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.
| Identifer | oai:union.ndltd.org:arizona.edu/oai:arizona.openrepository.com:10150/605783 |
| Date | 10 1900 |
| Creators | Lesmeister, Micah, Elhourani, Theodore |
| Contributors | Marefat, Michael, Reagan, John, University of Arizona |
| Publisher | International Foundation for Telemetering |
| Source Sets | University of Arizona |
| Language | en_US |
| Detected Language | English |
| Type | text, Proceedings |
| Rights | Copyright © International Foundation for Telemetering |
| Relation | http://www.telemetry.org/ |
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