Please use this identifier to cite or link to this item: http://ktisis.cut.ac.cy/handle/10488/7764
Title: Architecture, abstractions, and algorithms for controlling large teams of robots: experimental testbed and results
Authors: Michael, Nathan
Fink, Jonathan R.
Loizou, Savvas 
Keywords: Robots--Programming
Algorithms
Testing laboratories
Issue Date: 2010
Publisher: Springer
Source: Robotics Research: the 13th International Symposium ISRR, 2010, Volume 66, Issue STAR, Pages 409-419
Abstract: We describe the architecture, algorithms, and experimental testbed for the deployment of large numbers of cooperating robots, and applications to tasks like manipulation and transportation. The coordination between robots is completely decentralized to enable scaling up to large numbers of robots. There is no labeling or identification of robots and all robots (and their software) are identical allowing robustness to failures, ease of programming, and modularity enabling the addition or deletion of robots from the team. Our approach requires minimal communication and sensing and the proposed controllers are based only on local information. Moreover, our architecture facilitates asymmetric communication from one or more supervisory agents that can broadcast information to all robots and close the loop by acquiring abstract, high level information related to the supervised robots. We discuss the hardware and software implementation, the architecture, and present recent experimental results.
URI: http://ktisis.cut.ac.cy/handle/10488/7764
ISBN: 978-364214742-5
DOI: 10.1007/978-3-642-14743-2_34
Rights: © 2010 Springer-Verlag Berlin Heidelberg
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

Show full item record

SCOPUSTM   
Citations 20

5
checked on Apr 22, 2017

Page view(s)

6
checked on Apr 26, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.