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dc.contributor.advisorMarefat, Michaelen
dc.contributor.advisorReagan, Johnen
dc.contributor.authorLesmeister, Micah
dc.contributor.authorElhourani, Theodore
dc.date.accessioned2016-04-18T17:49:54Zen
dc.date.available2016-04-18T17:49:54Zen
dc.date.issued2004-10en
dc.identifier.issn0884-5123en
dc.identifier.issn0074-9079en
dc.identifier.urihttp://hdl.handle.net/10150/605783en
dc.descriptionInternational Telemetering Conference Proceedings / October 18-21, 2004 / Town & Country Resort, San Diego, Californiaen_US
dc.description.abstractIn this paper we propose an open multi-robot architecture that dramatically reduces the time to deployment and increases the utility value to the mainstream non-technical user. We describe a multi-robot behavior-based coordination architecture and argue its suitability in the context of general-purpose robot teams operating in dynamic and unpredictable environments. We then formalize and describe a command fusion module for the coordination of high-level behaviors of the system. The command fusion module is interfaced to our middle-ware/compiler that generates behavior selection tips from a user specified abstract description of a scenario. Finally, we utilize an example search and rescue scenario to illustrate the overall process and give preliminary results of the experiments performed on actual robots.
dc.description.sponsorshipInternational Foundation for Telemeteringen
dc.language.isoen_USen
dc.publisherInternational Foundation for Telemeteringen
dc.relation.urlhttp://www.telemetry.org/en
dc.rightsCopyright © International Foundation for Telemeteringen
dc.subjectMultirobot Systemsen
dc.subjectBehavior-Based Controlen
dc.subjectHigh-Level Language Decompositionen
dc.subjectBehavior Coordination Mechanismsen
dc.titleAN OPEN ARCHITECTURE AND MIDDLEWARE FOR COLLECTIVE ROBOT TEAMSen_US
dc.typetexten
dc.typeProceedingsen
dc.contributor.departmentUniversity of Arizonaen
dc.identifier.journalInternational Telemetering Conference Proceedingsen
dc.description.collectioninformationProceedings from the International Telemetering Conference are made available by the International Foundation for Telemetering and the University of Arizona Libraries. Visit http://www.telemetry.org/index.php/contact-us if you have questions about items in this collection.en
refterms.dateFOA2018-09-11T09:01:04Z
html.description.abstractIn this paper we propose an open multi-robot architecture that dramatically reduces the time to deployment and increases the utility value to the mainstream non-technical user. We describe a multi-robot behavior-based coordination architecture and argue its suitability in the context of general-purpose robot teams operating in dynamic and unpredictable environments. We then formalize and describe a command fusion module for the coordination of high-level behaviors of the system. The command fusion module is interfaced to our middle-ware/compiler that generates behavior selection tips from a user specified abstract description of a scenario. Finally, we utilize an example search and rescue scenario to illustrate the overall process and give preliminary results of the experiments performed on actual robots.


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