We report on the development of cooperating multiple robots. We seek to closely coordinate the mobility and manipulation of multiple robots to perform site construction operations - a task viewed as essential to a sustained robotic presence and human habitation on Mars. There are numerous technical challenges including: the mobile handling of extended objects, as well as the cooperative transport/navigation of such objects over a natural, unpredictable terrain. We describe an extensible system concept, related simulations, a hardware implementation, and preliminary experimental results. In support of this work we have developed an enabling hybrid control architecture wherein multi-robot mobility and sensor-based controls are derived as group compositions and coordination of more basic behaviors under a task-level multi-agent planner. We summarize this control architecture for multi-robot planetary outposts (CAMPOUT), and its application to physical experiments where two rovers carry an extended payload over natural terrain.
Robot work crews for planetary outposts: close cooperation and coordination of multiple mobile robots
2000
11 Seiten, 17 Quellen
Aufsatz (Konferenz)
Englisch
Behavior- Based Control Systems for Planetary Autonomous Robot Outposts
British Library Conference Proceedings | 2000
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