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.


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    Titel :

    Robot work crews for planetary outposts: close cooperation and coordination of multiple mobile robots


    Beteiligte:
    Schenker, P.S. (Autor:in) / Huntsberger, T.L. (Autor:in) / Pirjanian, P. (Autor:in) / Trebi-Ollennu, A. (Autor:in) / Das, H. (Autor:in) / Joshi, S.S. (Autor:in) / Aghazarian, H. (Autor:in) / Ganino, A.J. (Autor:in) / Kennedy, B.A. (Autor:in) / Garrett, M.S. (Autor:in)


    Erscheinungsdatum :

    2000


    Format / Umfang :

    11 Seiten, 17 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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