RoSe - A framework for multicast communication via unreliable networks in multi-robot systems
Robotics and Autonomous Systems
Testing Unmanned Aerial Vehicle Missions in a Scaled Environment
Journal of Intelligent and Robotic Systems
Dynamic optimal control of multiple depot vehicle routing problem with metric temporal logic
ACC'09 Proceedings of the 2009 conference on American Control Conference
Multi-sensory motion estimation and control of a mini-quadrotor in an air-ground multi-robot system
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Adoption of Vehicular Ad Hoc Networking Protocols by Networked Robots
Wireless Personal Communications: An International Journal
Supervised morphogenesis: morphology control of ground-based self-assembling robots by aerial robots
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
The University of Pennsylvania MAGIC 2010 multi-robot unmanned vehicle system
Journal of Field Robotics
Realization of an autonomous team of unmanned ground and aerial vehicles
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Cooperative Large Area Surveillance with a Team of Aerial Mobile Robots for Long Endurance Missions
Journal of Intelligent and Robotic Systems
Towards solving an obstacle problem by the cooperation of UAVs and UGVs
Proceedings of the 28th Annual ACM Symposium on Applied Computing
Decentralized multi-robot cooperation with auctioned POMDPs
International Journal of Robotics Research
Robotic Urban Search and Rescue: A Survey from the Control Perspective
Journal of Intelligent and Robotic Systems
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In this paper, we report on the integration challenges of the various component technologies developed toward the establishment of a framework for deploying an adaptive system of heterogeneous robots for urban surveillance. In our integrated experiment and demonstration, aerial robots generate maps that are used to design navigation controllers and plan missions for the team. A team of ground robots constructs a radio-signal strength map that is used as an aid for planning missions. Multiple robots establish a mobile ad hoc communication network that is aware of the radio-signal strength between nodes, and can adapt to changing conditions to maintain connectivity. Finally, the team of aerial and ground robots is able to monitor a small village, and search for and localize human targets by the color of the uniform, while ensuring that the information from the team is available to a remotely located human operator. The key component technologies and contributions include: (a) Mission specification and planning software; (b) exploration and mapping of radio-signal strengths in an urban environment; (c) programming abstractions and composition of controllers for multirobot deployment; (d) cooperative control strategies for search, identification, and localization of targets; and (e) three-dimensional mapping in an urban setting. © 2007 Wiley Periodicals, Inc.