| Rafael Fierro MARHES
Laboratory, School of Electrical and Computer Engineering, Oklahoma State
University, Stillwater, OK USA , Aveek Das, John Spletzer,
Joel Esposito, Vijay Kumar, James P. Ostrowski, George
Pappas and Camillo J. Taylor GRASP Laboratory, University
of Pennsylvania, Philadelphia, PA USA , Yerang Hur, Rajeev
Alur and Insup Lee SDRL Laboratory, University of Pennsylvania,
Philadelphia, PA USA , Greg Grudic Department of Computer
Science, University of Colorado at Boulder, Boulder, CO USA and B
Southall Sarnoff Corporation, Princeton, USA |
| 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, to manipulation
tasks, to cooperative localization and mapping, and formation control. Our
software framework allows a modular and hierarchical approach to programming
deliberative and reactive behaviors in autonomous operation. Formal definitions
for sequential composition, hierarchical composition, and parallel composition
allow the bottom-up development of complex software systems. We demonstrate
the algorithms and software on an experimental testbed that involves a group
of car-like robots, each using a single omnidirectional camera as a sensor
without explicit use of odometry. |
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