Coordination and Longevity in Multi-Robot Teams Involving Miniature Robots

Authors:
Andrew Drenner;Michael Janssen;Apostolos Kottas;Alex Kossett;Casey Carlson;Ryan Lloyd;Nikolaos Papanikolopoulos
Affiliations:
Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA 55455;Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA 55455;Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA 55455;Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA 55455;Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA 55455;Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA 55455;Department of Computer Science and Engineering, University of Minnesota, Minneapolis, USA 55455
Venue:
Journal of Intelligent and Robotic Systems
Year:
2013

Citing 7
Cited 0

Decision estimation and classification: an introduction to pattern recognition and related topics

Decision estimation and classification: an introduction to pattern recognition and related topics
Marsupial-like mobile robot societies

Proceedings of the third annual conference on Autonomous Agents
CONRO: Towards Deployable Robots with Inter-Robots Metamorphic Capabilities

Autonomous Robots
Marsupial and Shape-Shifting Robots for Urban Search and Rescue

IEEE Intelligent Systems
Super Mechano-System: New Perspective for Versatile Robotic System

ISER '00 Experimental Robotics VII
Adaptive mobile charging stations for multi-robot systems

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Real-time foreground-background segmentation using codebook model

Real-Time Imaging

Quantified Score

Hi-index	0.00

Visualization

Abstract

Marsupial robot teams offer the ability to augment or replace human-based responses to hazardous scenarios such as search-and-rescue missions or monitoring toxic environments. Coordination and longevity of the members of the marsupial robotic team can quickly become burdensome as the scope of the scenario changes. To facilitate large scale operations, robotic teams must be able to function continuously with limited to no human intervention for scenarios which may not have a pre-determined length at onset. An end-to-end design and implementation of a novel marsupial system where a multi-level hierarchy allows larger robots to transport, deploy, coordinate, recover, and resupply large numbers of smaller deployable systems is outlined. The design and implementation of hardware systems for performing these actions is discussed. In addition, the algorithms which coordinate the team members are presented. Simulation illustrating the scalability of the approach is presented including experiments illustrating a light-weight vision-based autonomous docking capability.