AN OPEN ARCHITECTURE AND MIDDLEWARE FOR COLLECTIVE ROBOT TEAMS
International Telemetering Conference Proceedings / October 18-21, 2004 / Town & Country Resort, San Diego, California === In this paper we propose an open multi-robot architecture that dramatically reduces the time to deployment and increases the utility value to the mainstream non-technical us...
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| Language: | en_US |
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International Foundation for Telemetering
2004
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| Online Access: | http://hdl.handle.net/10150/605783 http://arizona.openrepository.com/arizona/handle/10150/605783 |
| Summary: | International Telemetering Conference Proceedings / October 18-21, 2004 / Town & Country Resort, San Diego, California === In this paper we propose an open multi-robot architecture that dramatically reduces the time to deployment and increases the utility value to the mainstream non-technical user. We describe a multi-robot behavior-based coordination architecture and argue its suitability in the context of general-purpose robot teams operating in dynamic and unpredictable environments. We then formalize and describe a command fusion module for the coordination of high-level behaviors of the system. The command fusion module is interfaced to our middle-ware/compiler that generates behavior selection tips from a user specified abstract description of a scenario. Finally, we utilize an example search and rescue scenario to illustrate the overall process and give preliminary results of the experiments performed on actual robots. |
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