Persistent Link:
http://hdl.handle.net/10150/605783
Title:
AN OPEN ARCHITECTURE AND MIDDLEWARE FOR COLLECTIVE ROBOT TEAMS
Author:
Lesmeister, Micah; Elhourani, Theodore
Advisor:
Marefat, Michael; Reagan, John
Affiliation:
University of Arizona
Issue Date:
2004-10
Rights:
Copyright © International Foundation for Telemetering
Collection Information:
Proceedings from the International Telemetering Conference are made available by the International Foundation for Telemetering and the University of Arizona Libraries. Visit http://www.telemetry.org/index.php/contact-us if you have questions about items in this collection.
Publisher:
International Foundation for Telemetering
Journal:
International Telemetering Conference Proceedings
Abstract:
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.
Keywords:
Multirobot Systems; Behavior-Based Control; High-Level Language Decomposition; Behavior Coordination Mechanisms
Sponsors:
International Foundation for Telemetering
ISSN:
0884-5123; 0074-9079
Additional Links:
http://www.telemetry.org/

Full metadata record

DC FieldValue Language
dc.language.isoen_USen
dc.titleAN OPEN ARCHITECTURE AND MIDDLEWARE FOR COLLECTIVE ROBOT TEAMSen_US
dc.contributor.authorLesmeister, Micahen
dc.contributor.authorElhourani, Theodoreen
dc.contributor.advisorMarefat, Michaelen
dc.contributor.advisorReagan, Johnen
dc.contributor.departmentUniversity of Arizonaen
dc.date.issued2004-10en
dc.rightsCopyright © International Foundation for Telemeteringen
dc.description.collectioninformationProceedings from the International Telemetering Conference are made available by the International Foundation for Telemetering and the University of Arizona Libraries. Visit http://www.telemetry.org/index.php/contact-us if you have questions about items in this collection.en
dc.publisherInternational Foundation for Telemeteringen
dc.description.abstractIn 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.en
dc.subjectMultirobot Systemsen
dc.subjectBehavior-Based Controlen
dc.subjectHigh-Level Language Decompositionen
dc.subjectBehavior Coordination Mechanismsen
dc.description.sponsorshipInternational Foundation for Telemeteringen
dc.identifier.issn0884-5123en
dc.identifier.issn0074-9079en
dc.identifier.urihttp://hdl.handle.net/10150/605783en
dc.identifier.journalInternational Telemetering Conference Proceedingsen
dc.typetexten
dc.typeProceedingsen
dc.relation.urlhttp://www.telemetry.org/en
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