Knowledge model-based heterogeneous multi-robot system implemented by a software platform
Knowledge-Based Systems
Task-based Hardware Reconfiguration in Mobile Robots Using FPGAs
Journal of Intelligent and Robotic Systems
A machine-learning approach to multi-robot coordination
Engineering Applications of Artificial Intelligence
A Novel Multi-robot Coordination Method Based on Reinforcement Learning
ICIC '08 Proceedings of the 4th international conference on Intelligent Computing: Advanced Intelligent Computing Theories and Applications - with Aspects of Theoretical and Methodological Issues
Tightly coupled cooperation among independent agents
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
Research on double omni-directional mobile robot cooperation transport
FSKD'09 Proceedings of the 6th international conference on Fuzzy systems and knowledge discovery - Volume 4
LUNARES: lunar crater exploration with heterogeneous multi robot systems
Intelligent Service Robotics
Autonomous over-the-horizon navigation using LIDAR data
Autonomous Robots
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Exploration of high risk terrain areas such as cliff faces and site construction operations by autonomous robotic systems on Mars requires a control architecture that is able to autonomously adapt to uncertainties in knowledge of the environment. We report on the development of a software/hardware framework for cooperating multiple robots performing such tightly coordinated tasks. This work builds on our earlier research into autonomous planetary rovers and robot arms. Here, we seek to closely coordinate the mobility and manipulation of multiple robots to perform examples of a cliff traverse for science data acquisition, and site construction operations including grasping, hoisting, and transport of extended objects such as large array sensors over natural, unpredictable terrain. In support of this work we have developed an enabling distributed control architecture called control architecture for multirobot planetary outposts (CAMPOUT) wherein integrated multirobot mobility and control mechanisms are derived as group compositions and coordination of more basic behaviors under a task-level multiagent planner. CAMPOUT includes the necessary group behaviors and communication mechanisms for coordinated/cooperative control of heterogeneous robotic platforms. In this paper, we describe CAMPOUT, and its application to ongoing physical experiments with multirobot systems at the Jet Propulsion Laboratory in Pasadena, CA, for exploration of cliff faces and deployment of extended payloads.