A Framework and Architecture for Multirobot Coordination
In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment with applications ranging from scouting and reconnaissance, to search and rescue and manipulation tasks. Our software framework provides the methodology and the tools that enable robots to exhibit deliberative and reactive behaviors in autonomous operation, to be reprogrammed by a human operator at run-time, and to learn and adapt to unstructured, dynamic environments and new tasks, while providing performance guarantees. We demonstrate the algorithms and software on an experimental testbed that involves a team of car-like robots using a single omnidirectional camera as a sensor without explicit use of odometry.
Unable to display preview. Download preview PDF.
- Donald B., Gariepy L., Rus D. (2000) Distributed manipulation of multiple objects using ropes. Proc. IEEE Int. Conf. on Robotics and Automation, 450–457.Google Scholar
- Khatib O., Yokoi K., Chang K. et al. (1996) Vehicle/arm coordination and mobile manipulator decentralized cooperation. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 546–553.Google Scholar
- Parker L. (2000) Current state of the art in distributed robot systems, Distributed Autonomous Robotic Systems 4. Parker L., Bekey G., Barhen J. (Eds.). Springer, 3–12.Google Scholar
- Rus D., Donald B., Jennings J. (1995) Moving furniture with teams of autonomous robots. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 235–242.Google Scholar
- Brooks R. (1986) A robust layered control system for a mobile robot. IEEE J. Robotics and Automation, 2(1):14–23.Google Scholar
- Grudic G., Ungar L. (2000) Localizing search in reinforcement learning. National Conference on Artificial Intelligence (AAAI 2000), 590–595.Google Scholar
- Desai J., Ostrowski J., Kumar V. (1998) Controlling formations of multiple mobile robots. Proc. IEEE Int. Conf. on Robotics and Automation, 2864–2869.Google Scholar
- Fierro R., Das A., Kumar V., Ostrowski J. (2001) Hybrid control of formation of robots. IEEE Int. Conf. on Robotics and Automation, ICRA01, Seoul, Korea, May, 2001. To appear.Google Scholar
- Khalil H. (1996) Nonlinear Systems. Prentice Hall.Google Scholar