Volume 21 Issue 10 - Publication Date: 1 October 2002
Special issue on International Symposia on Experimental Robotics 2000
A Framework and Architecture for Multi-Robot Coordination
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.
Multimedia Key
= Video = Data = Code = Image
Example One: Experimental platform and obstacle avoidance experiment (2.5 MB)
Example Two: In this experiment we restrict the robot to two modes (a) target acquisition, and (b) target tracking (3.0 MB)
Example Three: Switching between modes: obstacle avoidance and line (simulated wall) following (3.5 MB)
Example Four: Leader-following. The follower uses an extended Kalman filer (EKF) for estimating its leader's velocities. (4.5 MB)
Example Five: A 3-robot system in triangular formation. (3.5 MB)
Example Six: Collaborative manipulation. (2.7 MB)
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