A framework and architecture for multi-robot coordination

被引：75

作者：

Fierro, R ^{[1
]}

Das, A

Spletzer, J

Esposito, J

Kumar, V

Ostrowski, JP

Pappas, G

Taylor, CJ

Hur, Y

Alur, R

Lee, I

Grudic, G

Southall, B

机构：

[1] Oklahoma State Univ, Sch Elect & Comp Engn, MARHES Lab, Stillwater, OK 74078 USA

[2] Univ Penn, GRASP Lab, Philadelphia, PA 19104 USA

[3] Univ Penn, SDRL Lab, Philadelphia, PA 19104 USA

[4] Univ Colorado, Dept Comp Sci, Boulder, CO 80309 USA

[5] Sarnoff Corp, Princeton, NJ USA

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2002年 / 21卷 / 10-11期

关键词：

multi-robot coordination; hierarchical hybrid systems; vision-based control;

D O I：

10.1177/0278364902021010981

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting and reconnaissance, to search and rescue, to manipulation tasks, to cooperative localization and mapping, and formation control. Our software framework allows a modular and hierarchical approach to programming deliberative and reactive behaviors in autonomous operation. Formal definitions for sequential composition, hierarchical composition, and parallel composition allow the bottom-up development of complex software systems. We demonstrate the algorithms and software on an experimental testbed that involves a group of car-like robots, each using a single omnidirectional camera as a sensor without explicit use of odometry.

引用

页码：977 / 995

页数：19

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