Hierarchical Multi-robot Coordination

  • Viktor Seib
  • David Gossow
  • Sebastian Vetter
  • Dietrich Paulus
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6556)


The complexity and variety of household chores creates conflicting demands on the technical design of domestic robots. One solution for this problem is the coordination of several specialized robots based on the master-slave principle. One robot acts as a master system, tracking and remotely controlling the slave robots. This way, only the master robot needs to be equipped with sophisticated sensors and computing hardware. We implemented a tracking system using an infra-red camera for the master and active markers on the slave robot. The master system is able to interact with the user using natural language. It builds a map of its environment automatically using a laser range finder. It can track a cleaning robot for which we use the commercially available platform “Roomba” by iRobot. The master safely navigates it to a given destination, avoiding obstacles. We successfully demonstrated the system during the RoboCup@Home competitions 2009 in Graz, Austria. We evaluate the performance of the two systems and describe the accuracy of localization and navigation.


Path Planning Multiple Robot Scene Graph Slave Robot Cleaning Robot 
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 2011

Authors and Affiliations

  • Viktor Seib
    • 1
  • David Gossow
    • 1
  • Sebastian Vetter
    • 1
  • Dietrich Paulus
    • 1
  1. 1.Active Vision GroupUniversity of Koblenz-LandauKoblenzGermany

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