Multi-Robot Systems

by Schultz, Alan C.; Parker, Lynne E.; NRL WORKSHOP ON MULTI-ROBOT SYSTEMS

• ISBN13: 9781402006791
• ISBN10: 1402006799
• Format: Hardcover
• Copyright: 2002-06-01
• Publisher: Kluwer Academic Pub

Summary

This proceedings volume documents recent cutting-edge developments in multi-robot systems research. This volume is the result of a workshop on Multi-Robot Systems that was held in March 2002 at the Naval Research Laboratory in Washington, D.C. This workshop was held as part of the NATO working group IST-032/RTG-014 on Multi-Robot Systems and preceded this group's formal meeting. This workshop brought together top researchers working in areas relevant to designing teams of autonomous vehicles, including robots and unmanned ground, air, surface, and undersea vehicles. The workshop focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction.

Table of Contents

Preface	ix
Part I Localization, Mapping and Navigation
On the Positional Uncertainty of Multi-Robot Cooperative Localization	3	(8)
Ioannis M. Rekleitis
Gregory Dudek
Evangelos E. Milios
A Multi-Agent System for Multi-Robot Mapping and Exploration	11	(10)
Kurt Konolige
Didier Guzzoni
Keith Nicewarner
Distributed Heterogeneous Sensing for Outdoor Multi-Robot Localization, Mapping, and Path Planning	21	(10)
Lynne E. Parker
Kingsley Fregene
Yi Guo
Raj Madhavan
Mission-Relevant Collaborative Observation and Localization	31	(10)
Ashley W. Stroupe
Tucker Balch
Deployment and Localization for Mobile Robot Teams	41	(12)
Andrew Howard
Maja J. Mataric
Multiple Autonomous Robots for UXO Clearance, the Basic UXO Gathering System (BUGS) Project	53	(12)
Tuan N. Nguyen
Christopher O'Donnell
Tuan B. Nguyen
Part II Distributed Survelliance
Programming and Controlling the Operations of a Team of Miniature Robots	65	(8)
Paul E. Rybski
Sascha A. Stoeter
Maria Gini
Nikolaos Papanikolopoulos
Autonomous Flying Vehicle Research at the University of Southern California	73	(10)
Srikanth Saripalli
David J. Naffin
Gaurav S. Sukhatme
Part III Manipulation
Distributed Manipulation of Multiple Objects Using Ropes	83	(10)
Bruce Donald
Larry Gariepy
Daniela Rus
A Distributed Multi-Robot System for Cooperative Manipulation	93	(10)
Aveek Das
John Spletzer
Vijay Kumar
Camillo Taylor
Part IV Coordination and Formations
A Layered Architecture for Coordination of Mobile Robots	103	(10)
Reid Simmons
Trey Smith
M. Bernardine Dias
Dani Goldberg
David Hershberger
Anthony Stentz
Robert Zlot
Stability Analysis of Decentralized Cooperative Controls	113	(10)
John T. Feddema
David A. Schoenwald
Snow White and the 700 Dwarves	123	(10)
Brian H. Wilcox
Part V Sensor and Hardware Issues
GOATS: Multi-platform Sonar Concept for Coastal Mine Countermeasures	133	(8)
Henrik Schmidt
Joseph R. Edwards
Design of the UMN Multi-Robot System	141	(8)
Andrew Drenner
Ian Burt
Brian Chapeau Tom Dahlin
Bradley Kratochval
Colin McMillen
Brad Nelson
Nikoloas Papanikolopoulos
Paul E. Rybski
Kristen Stubbs
David Waletzko
Kemal Berk Yesin
Simulating Self Organization With the Digital Hormone Model	149	(12)
Wei-Min Shen
Cheng-Ming Chuong
Part VI Design and Learning
Architecting a Simulation and Development Environment for Multi-Robot Teams	161	(8)
Stephen Balakirsky
Elena Messina
James Albus
Robotsoccer: A Multi-Robot Challenge	169	(8)
Manuela M. Veloso
Part VII Human/Robot Interaction
Human-Robot Interactions: Creating Synergistic Cyber Forces	177	(8)
Jean C. Scholtz
Communicating with Teams of Cooperative Robots	185	(10)
D. Perzanowski
A. C. Schultz
W. Adams
M. Skubic
M. Abramson
M. Bugajska
E. Marsh
J. G. Trafton
D. Brock
Robot as Partner: Vehicle Teleoperation with Collaborative Control	195	(8)
Terrence Fong
Charles Thorpe
Charles Baur
Adaptive Multi-Robot, Multi-Operator Work Systems	203	(10)
Aaron C. Morris
Charles K. Smart
Scott M. Thayer
User Interaction with Multi-Robot Systems	213	(8)
David Kortenkamp
Debra Schreckenghost
Cheryl Martin
Human-Robot Interactions in Robot-Assisted Urban Search and Rescue	221	(2)
Robin Murphy
Jenn Casper
Usability Issues for Designing Multi-Robot Missions	223	(2)
Ronald C. Arkin
Perception-Based Navigation for Mobile Robots	225	(10)
K. Kawamura
D. M. Wilkes
A. B. Koku
T. Keskinpala
Author Index	235