First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly

  • Reid Simmons
  • Sanjiv Singh
  • David Hershberger
  • Josue Ramos
  • Trey Smith
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


While many multi-robot systems rely on fortuitous cooperation between agents, some tasks, such as the assembly of large structures, require tighter coordination. We present a general software architecture for coordinating heterogeneous robots that allows for both autonomy of the individual agents as well as explicit coordination. This paper presents recent results with three robots with very different configurations. Working as a team, these robots are able to perform a high-precision docking task that none could achieve individually.


Mobile Manipulator Visual Servoing Multiple Robot Manipulation Manager Artificial Intelligence Research 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Reid Simmons
    • 1
  • Sanjiv Singh
    • 1
  • David Hershberger
    • 1
  • Josue Ramos
    • 1
  • Trey Smith
    • 1
  1. 1.Robotics InstituteCarnegie Mellon UniversityPittsburgh

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