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Cooperative Tasks Using Teams of Mobile Robots

Chapter
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 247)

Abstract

The coordination framework for mobile robots called cluster space control is reviewed and implemented using different robotic platforms to demonstrate specific multirobot cooperative tasks. In particular, results on multirobot object transportation and target patrolling are presented through experimental tests. Additionally, simulations on a marine oil skimming mission performed with two autonomous surface vessels are presented to illustrate the wide range of possible multirobot applications utilizing the cluster space approach. The level of abstraction introduced by this coordination framework facilitates the execution of the tasks, allowing for specification, control and monitoring of formation parameters such as position, orientation and shape of the group, instead of the positions of the individual robot members.

Keywords

Cluster space control Cooperative patrolling Mobile robots Multirobot applications Object transportation Oil skimming Robot cooperation. 

Notes

Acknowledgments

The authors gratefully thank Steve Li and Thomas Adamek for their help developing and maintaining the experimental testbeds and Mike Rasay for improving the Boe-Bot mechanical design. This work has been sponsored through a variety of funding sources to include Santa Clara University Technology Steering Committee grant TSC131 and National Science Foundation Grant No. CNS-0619940. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.

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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Consejo Nacional de Investigaciones Cientificas y Tecnicas (CONICET) and Instituto Tecnologico de Buenos Aires (ITBA)Buenos AiresArgentina
  2. 2.Robotic Systems LabSanta Clara UniversitySanta ClaraUSA

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