Distributed control of multi-robot systems engaged in tightly coupled tasks

Autonomous Robots

Volumn 17, Issue 1, 2004, Pages 79-92

  Huntsberger, Terry L ^a   Trebi Ollennu, Ashitey ^a   Aghazarian, Hrand ^a   Schenker, Paul S ^a   Pirjanian, Paolo ^b   Nayar, Hari Das ^c  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^b Evolution Robotics Inc   (United States)

^c OphirTech   (United States)

Author keywords

Distributed control architecture; Multiple mobile robots; Tight coordination

Indexed keywords

ALGORITHMS; CONSTRAINT THEORY; DISTRIBUTED PARAMETER CONTROL SYSTEMS; ERROR ANALYSIS; MARTIAN SURFACE ANALYSIS; MOBILE ROBOTS; MOTION CONTROL;

DISTRIBUTED CONTROL ARCHITECTURE; MULTIPLE MOBILE ROBOTS; TIGHT COORDINATION;

ROBOTICS;

EID: 3142722708     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1023/B:AURO.0000032939.08597.62     Document Type: Article

References (33)

1. Arkin, R.C. 1998. Behavior-Based Robotics. The MIT Press (Intelligent Robotics and Autonomous Agents series).
2. Borenstein, I. 2000. The Omnimate: A guidewire- and beacon-free AGV for highly reconfigurable applications. Intern. J. of Production Research, 38(9): 1993-2010.
3. Colozza, A. 1991. Design and optimization of a self-deploying PV tent array. NASA CR187119, Lewis Research Center Group, Brook Park, OH.
4. Gerkey, B.P. and Mataric, M.J. 2000. Principled communication for dynamic multi-robot task allocation. In Proc. International Symposium on Experimental Robotics (ISER 2000), Waikiki, Hawaii, pp. 341-352.
5. Hara, M., Fukuda, M., Nishibashi, H., Aiyama, Y., Ota, J., and Arai, T. 1999. Motion control of cooperative transportation system by quadruped robots based on vibration model walking. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'99), pp. 1651-1656.
6. Howard, A., Mataric, M.J., and Sukhatme, G.S. 2002. Localization for mobile robot teams using maximum likelihood estimation. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2002), pp. 434-439.
7. Huntsberger, T.L. and Aghazarian, H. 2004. Obstacle avoidance behavior for tightly coupled rover ensembles, in preparation.
8. Huntsberger, T.L., Rodriguez, G., and Schenker, P.S. 2000. Robotics challenges for robotic and human Mars exploration. In Proc. ROBOTICS2000, Albuquerque, NM, pp. 340-346.
9. Huntsberger, T.L., Pirjanian, P., and Schenker, P.S. 2001. Robotic outposts as precursors to a manned Mars habitat. In Proc. Space Technology and Applications International Forum (STAIF-2001), Albuquerque, NM, pp. 46-51.
10. Huntsberger, T., Aghazarian, H., Cheng, Y., Baumgartner, E.T., Tunstel, E., Leger, C., Trebi-Ollennu, A., and Schenker, P. 2002. Rover autonomy for long range navigation and science data acquisition on planetary surfaces. In Proc. 2002 IEEE International Conf. on Robotics and Automation (ICRA2002), Washington, DC, pp. 3161-3168.
11. Huntsbeiger, T.L., Pirjanian, P., Trebi-Ollennu, A., Nayar, H.D., Aghazarian, H., Ganino, A.I., Garrett, M.S., Joshi, S.S., and Schenker, P.S. 2003a. CAMPOUT: A control architecture for tightly coupled coordination of multi-robot systems for planetary surface exploration. IEEE Transactions on Systems, Man, & Cybernetics: Special Issue on Collective Intelligence, 33:550-559.
12. Huntsberger, T.L., Sujan, V.A., Dubowsky, S., and Schenker, P.S. 2003b. Integrated system for sensing and traverse of cliff faces. In Proc. SPIE AeroSense'03: Unmanned Ground Vehicle Technology V, 5083, Orlando, FL, in press.
13. Khatib, O., Yokoi, K., Chang, K., Ruspini, D., Holmberg, R., and Casal, A. 1996. Vehicle/arm coordination and multiple mobile manipulator decentralized cooperation. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'96), pp. 546-553.
14. Kimura, H. and Kajiura, G. 1997. Motion recognition based cooperation between human operating robot and autonomous assistant robot. In Proc. IEEE Intl. Conf. on Robotics and Automation (ICRA'97), pp. 297-303.
15. Kurabayashi, D., Sasaki, J., and Aiyama, Y. 1996. Cooperative transport with rsgrasping of torque-limited mobile robots. In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'96), pp. 304-309.
16. Kurazume, R. and Hirose, S. 2000. An experimental study of a cooperative positioning system. Autonomous Robots, 8(1):43-52.
17. Leonard, J.J. and Durrant-Whyte, H.F. 1991. Mobile robot localization by tracking geometric beacons. IEEE Trans. on Robotics and Automation, 7(3):376-382.
18. Miyata, N., Ota, J., Aiyama, Y., Sasaki, J., and Arai, T. 1997. Cooperative transportation system with regrasping car-like mobile robots." In Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'97), PP. 1754-1761.
19. Osumi, H., Terasawa, M., and Nojiri, H. 1998. Cooperative control of multiple mobile manipulators on uneven ground. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'98), Leuven, Belgium, pp. 3198-3203.
20. Parker, L.E. 2000. Current state of the art in distributed robot systems. In Distributed Autonomous Robotic Systems 4, Lynne E. Parker, George Bekey, and Jacob Barhen (Eds.), Springer, pp. 3-12.
21. Pirjanian, P. 2000. Multiple objective behavior-based control. Robotics and Autonomous Systems 31(1/2):53-60.
22. Pirjanian, P., Huntsberger, T.L., Trebi-Ollennu, A., Aghazarian, H., Das, H., Joshi, S., and Schenker, P.S. 2000. CAMPOUT: A control architecture for multi-robot planetary outposts. In Proc. SPIE Sensor Fusion and Decentralized Control in Robotic Systems III, 4196, Boston, MA.
23. Pirjanian, P., Huntsberger, T.L., and Schenker, P.S. 2001. Development of CAMPOUT and its further applications to planetary rover operations: A multirobot control architecture. In Proc. SPIE Sensor Fusion and Decentralized Control in Robotic Systems IV, 4571, Newton, MA.
24. Pirjanian, P., Leger, C., Mumm, E., Kennedy, B., Garrett, M., Aghazarian, H., Schenker, P.S., and Farritor, S. 2002. Distributed control for a modular, reconfigurable cliff robot. In Proc. 2002 IEEE International Conf. on Robotics and Automation (ICRA2002), Washington, DC, pp. 4083-4088.
25. Rekleitis, I.M., Dudek, G., and Milios, E. 1997. Multirobot exploration of an unknown environment: Efficiently reducing the odometry error. In Proc. International Joint Conf. on Artificial Intelligence (IJCAI'97), pp. 1340-1345.
26. Roumeliotis, S.I. and Bekey, G.A. 2000. Collective localization: A distributed Kalman filter approach. In Proc. 2000 IEEE International Conf. on Robotics and Automation (ICRA2000), San Francisco, CA, pp. 2958-2965.
27. Rus, D., Donald, B., and Jennings, J. 1995. Moving furniture with teams of autonomous robots. In Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'95), pp. 235-242.
28. Schenker, P.S., Huntsberger, T.L., Pirjanian, P., Trebi-Ollennu, A., Das, H., Joshi, S., Aghazarian, H., Ganino, A.J., Kennedy, B.A., and Garrett, M.S. 2000. Robot work crews for planetary outposts: close cooperation and coordination of multiple mobile robots. In Proc. Sensor Fusion and Decentralized Control in Robotic Systems III, SPIE vol. 4196, Boston, MA.
29. Schenker, P.S., Huntsberger, T.L., Pirjanian, P., McKee, G.T. 2001. Robotic autonomy for space: Closely coordinated control of networked robots. In Proc. 6th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS-'01), Montreal, Canada.
30. Schenker, P.S., Huntsberger, T.L., Pirjanian, P., Baumgartner, E.T., and Tunstel, E. 2003. Planetary rover developments supporting Mars exploration, sample return and future human-robotic colonization. Autonomous Robots, 14:103-126.
31. Sugar, T. and Kumar, V. 1999. Multiple cooperating mobile manipulators. In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA'99), pp. 1538-1543.
32. Trebi-Ollennu, A., Das, H., Aghazarian, H., Ganino, A., Pirjanian, P., Huntsberger, T., and Schenker, P. 2002. Mars rover pair cooperatively transporting a long payload. In Proc. 2002 IEEE International Conf. on Robotics and Automation (ICRA2002), Washington, DC, pp. 3136-3141.
33. Wang, Z.D., Nakano, E., and Takahashi, T. 2003. Solving function distribution and behavior design problem for cooperative object handling by multiple mobile robots. IEEE Trans. on Systems, Man, & Cybernetics: Special Issue on Collective Intelligence, 33(5):537-549.