Coordinated deployment of multiple, heterogeneous robots

Author

Simmons, Reid ; Apfelbaum, David ; Fox, Dieter ; Goldman, Robert P. ; Haigh, Karen Zita ; Musliner, David J. ; Pelican, Michael ; Thrun, Sebastian

Author_Institution

Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

3

fYear

2000

fDate

2000

Firstpage

2254

Abstract

To be truly useful, mobile robots need to be fairly autonomous and easy to control. This is especially true in situations where multiple robots are used, due to the increase in sensory information and the fact that the robots can interfere with one another. The paper describes a system that integrates autonomous navigation, a task executive, task planning, and an intuitive graphical user interface to control multiple, heterogeneous robots. We have demonstrated a prototype system that plans and coordinates the deployment of teams of robots. Testing has shown the effectiveness and robustness of the system, and of the coordination strategies in particular

Keywords

graphical user interfaces; mobile robots; multi-robot systems; path planning; autonomous navigation; coordinated deployment; coordination strategies; intuitive graphical user interface; multiple heterogeneous robots; sensory information; task executive; task planning; Control systems; Graphical user interfaces; Mobile robots; Navigation; Prototypes; Robot control; Robot kinematics; Robot sensing systems; Robustness; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895304

Filename

895304