Adaptive mobile charging stations for multi-robot systems

Authors:
Alex Couture-Beil;Richard T. Vaughan
Affiliations:
Autonomy Lab, Simon Fraser University Burnaby, British Columbia, Canada;Autonomy Lab, Simon Fraser University Burnaby, British Columbia, Canada
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 2
Cited 1

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AAAI'97/IAAI'97 Proceedings of the fourteenth national conference on artificial intelligence and ninth conference on Innovative applications of artificial intelligence

Coordination and Longevity in Multi-Robot Teams Involving Miniature Robots

Journal of Intelligent and Robotic Systems

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Abstract

We consider systems of mobile robots that execute a transportation task and periodically recharge from a docking station. The location of the docking station has a considerable effect on task performance. In nonstationary tasks the optimal dock location may vary over the length of the task. In multiple-robot systems, spatial interference between charging and working robots can make it difficult to find an optimal dock location, even in static tasks. We propose a new approach whereby the dock is itself an autonomous robot that attempts to incrementally improve its location. We show simulation results from a simple local controller that adapts to nonstationary tasks and spatial interference, and thus improves overall task performance compared to a static dock.