A Cooperative Multiple-Robot Survey System
A Cooperative Multiple-Robot Survey System
- Neue Suche nach: Min, Tao Wei
- Neue Suche nach: Yin, How Khee
- Neue Suche nach: Min, Tao Wei
- Neue Suche nach: Yin, How Khee
In this paper, we present a Co-operative Multiple Robots Survey System (CMRSS) for traversing an unknown area to achieve complete coverage. Each robot is equipped with obstacle detection and own positioning sensors as well as communication equipment to exchange information with other robots. We will describe how CMRSS organizes the multiple robots based on Contract Net Architecture and the high-level communication protocol designed to achieve co-operation among multiple robots. We also describe the architecture and design concept of the high-level software module of CMRSS called Cooperative Mission Execution System (CMES). We have built a simulation environment to serve as the test-bed and implemented the core modules of CMRSS. Some simulations have been done and results have shown the effectiveness of our approach. Implementation on real robot is being planned.
Dokumentinformationen
A Cooperative Multiple-Robot Survey System
Third ASCE Specialty Conference on Robotics for Challenging Environments ; 1998 ; Albuquerque, New Mexico, United States
Robotics 98 ; 78-84
1998-04-21
Aufsatz (Konferenz)
Elektronische Ressource
Englisch