Heterogeneous multi-robot cooperation
Heterogeneous multi-robot cooperation
Polynomial time approximation schemes for Euclidean traveling salesman and other geometric problems
Journal of the ACM (JACM)
Robot Motion Planning
Multiagent Mission Specification and Execution
Autonomous Robots
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
Reinforcement Learning in the Multi-Robot Domain
Autonomous Robots
The 4th International Symposium on Experimental Robotics IV
Combining multiple goals in a behavior-based architecture
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Management of a multi-robot system in a public environment
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Multi-agent robot systems as distributed autonomous systems
Advanced Engineering Informatics
Hi-index | 0.00 |
In this paper, we describe a complete system for mission planning and execution for multiple robots in natural terrain. We report on experiments with a system for autonomously driving two vehicles based on complex mission specifications. We show that the system is able to plan local paths in obstacle fields based on sensor data, to plan and update global paths to goals based on frequent obstacle map updates, and to modify mission execution, e.g., the assignment and ordering of the goals, based on the updated paths to the goals.Two recently developed sensors are used for obstacle detection: a high-speed laser range finder, and a video-rate stereo system. An updated version of a dynamic path planner, D*, is used for on-line computation of routes. A new mission planning and execution-monitoring tool, GRAMMPS, is used for managing the allocation and ordering of goals between vehicles.We report on experiments conducted in an outdoor test site with two HMMWVs. Implementation details and performance analysis, including failure modes, are described based on a series of twelve experiments, each over 1/2 km distance with up to nine goals.The work reported here includes a number of results not previously published, including the use of a real-time stereo machine and a high-performance laser range finder, and the use of the GRAMMPS planning system.