Exploration and mapping for unstructured robot teams

Authors:
Adrian Martin;M. Reza Emami
Affiliations:
University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada;University of Toronto Institute for Aerospace Studies, Toronto, ON, Canada
Venue:
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Year:
2009

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Abstract

As the applications of mobile robot teams become more complex, the impracticality of designing custom solutions is becoming increasingly obvious. A new approach to control system design is required to facilitate the development of modular and scalable systems. Control ad libitum is an approach that decouples the software and hardware design of robot teams, allowing the system to adapt to changing hardware and simplifying the process of adding functionality to the control system. The "Host, Avatar, Agent" control architecture was developed utilizing this approach and preliminary experimental results from an exploration and mapping scenario are presented here. The experimental results demonstrate the viability of the architecture, specifically in the areas of modularity and scalability, and provide some insights into how such a system could work for real-world applications.