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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 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.

Identiferoai:union.ndltd.org:arizona.edu/oai:arizona.openrepository.com:10150/605783
Date10 1900
CreatorsLesmeister, Micah, Elhourani, Theodore
ContributorsMarefat, Michael, Reagan, John, University of Arizona
PublisherInternational Foundation for Telemetering
Source SetsUniversity of Arizona
Languageen_US
Detected LanguageEnglish
Typetext, Proceedings
RightsCopyright © International Foundation for Telemetering
Relationhttp://www.telemetry.org/

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