DocumentCode
2941151
Title
Application of the Distributed Field Robot Architecture to a Simulated Demining Task
Author
Long, Matt ; Gage, Aaron ; Murphy, Robin ; Valavanis, Kimon
Author_Institution
Center for Robot-Assisted Search and Rescue University of South Florida Tampa, Florida
fYear
2005
fDate
18-22 April 2005
Firstpage
3193
Lastpage
3200
Abstract
As mobile robot teams become more complex, it is necessary to develop a control architecture to manage the resources present in the team. The Distributed Field Robot Architecture (DFRA) is a distributed, object-oriented implementation of the SFX hybrid robot architecture that allows for dynamic discovery and acquisition of robot resources and the seamless integration of humans and artificial agents in the robot team. This paper introduces the DFRA and details its application to a high-fidelity demining scenario using a heterogeneous team of ground and aerial robots.
Keywords
demining; distributed robot architectures; heterogeneous agents; recruitment; Computer architecture; Control systems; Humans; Land vehicles; Mobile robots; Object oriented modeling; Recruitment; Resource management; Robot sensing systems; Unmanned aerial vehicles; demining; distributed robot architectures; heterogeneous agents; recruitment;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570602
Filename
1570602
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