Modular behaviors in heterogeneous groups of mobile robots

Goksel Dedeoglu; Gaurav S. Sukhatme

doi:10.1117/12.403746

16 October 2000 Modular behaviors in heterogeneous groups of mobile robots

Goksel Dedeoglu, Gaurav S. Sukhatme

Proceedings Volume 4196, Sensor Fusion and Decentralized Control in Robotic Systems III; (2000) https://doi.org/10.1117/12.403746
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

We provide an overview of the software components underlying four different tasks performed by a heterogeneous group of mobile robots. These tasks are drawn from three domains 1. Robot Competitions (Robot Soccer and Find Life on Mars), 2. Security and Surveillance (Perimeter Protection) and 3. Building Environmental Models (Multi-Robot Navigation and Mapping). Once decomposed as a set of cooperating behaviors, we show how these (seemingly unrelated) tasks lead to similar solutions as far as their modular breakdown is concerned, thereby yielding high reusability. Although our collection of robot platforms is notably diverse in terms of mechanics, sensory and computational capabilities, cross-platform migration and extension of existing behavior assemblages require minimal programming effort.

Citation Download Citation

Goksel Dedeoglu and Gaurav S. Sukhatme "Modular behaviors in heterogeneous groups of mobile robots", Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); https://doi.org/10.1117/12.403746

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