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A Framework and Architecture for Multi-Robot Coordination

Rafael Fierro, Aveek Das, John Spletzer, Joel Esposito, Vijay Kumar, James P. Ostrowski, George Pappas, Camillo J. Taylor, Yerang Hur, Rajeev Alur, Insup Lee, Greg Grudic (+1 others)
2002 The international journal of robotics research  
In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting  ...  KEY WORDS-multi-robot coordination, hierarchical hybrid systems, vision-based control  ...  We thank Dan Walker for his work on the hardware of our experimental mobile platform. We also thank the anonymous reviewers for their constructive comments to improve this paper.  ... 
doi:10.1177/0278364902021010981 fatcat:jcmz6gzpwfesjjbuexzy64vai4

A Framework and Architecture for Multi-Robot Coordination

Rafael Fierro, Aveek Das, John Spletzer, Joel Esposito, Vijay Kumar, James P Ostrowski, George Pappas, Camillo J Taylor, Yerang Hur, Rajeev Alur, Insup Lee, Greg Grudic (+1 others)
2002 The international journal of robotics research  
In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting  ...  KEY WORDS-multi-robot coordination, hierarchical hybrid systems, vision-based control  ...  We thank Dan Walker for his work on the hardware of our experimental mobile platform. We also thank the anonymous reviewers for their constructive comments to improve this paper.  ... 
doi:10.1177/027836402128964080 fatcat:ifmdj4adrzcp3gw5fp4zfil5pe

A Multi-threads Architecture for the Motion Coordination of a Heterogeneous Multi-robot System

Fabio M. Marchese
2007 2007 Sixth Mexican International Conference on Artificial Intelligence, Special Session (MICAI)  
In this paper we present a layered architecture for multirobot motion coordination.  ...  It is a centralized framework, where a leader robot (or a supervisor) plans the motion of all the robots and makes them moving synchronously.  ...  An Architecture for Motion Coordination In this paper a software architecture for a MRS composed by heterogeneous mobile robots is proposed.  ... 
doi:10.1109/micai.2007.44 fatcat:pq26v7htujbtpbzctkp7v52sqm

Task and Role Selection Strategy for Multi-robot Cooperation in Robot Soccer [chapter]

Dong-Hyun Lee, Ki-In Na, Jong-Hwan Kim
2010 Communications in Computer and Information Science  
This paper proposes a framework for task and role selection strategy for distributed multi-robot coordination and its application to robot soccer.  ...  Computer simulations are carried out to demonstrate the effectiveness of the proposed framework for task and role selection for multi-robot cooperation.  ...  Considering this problem, in this paper, a framework for task and role selection strategy is proposed for multi-robot coordination.  ... 
doi:10.1007/978-3-642-15810-0_22 fatcat:6v7h4onhvnhm5lc2oyy2f6p6yi

A Survey and Analysis of Multi-Robot Coordination

Zhi Yan, Nicolas Jouandeau, Arab Ali Cherif
2013 International Journal of Advanced Robotic Systems  
This paper presents a systematic survey and analysis of the existing literature on coordination, especially in multiple mobile robot systems (MMRSs).  ...  In the field of mobile robotics, the study of multi-robot systems (MRSs) has grown significantly in size and importance in recent years.  ...  [149] presented a hybrid estimation framework for the problem of multi-robot cooperative localization under a very low bandwidth.  ... 
doi:10.5772/57313 fatcat:lj4hv3wxqrdmfc4mzph76q76qq

ALLIANCE-ROS: A Software Framework on ROS for Fault-Tolerant and Cooperative Mobile Robots

Zhongyuan GUO, Wenjing YANG, Minglong LI, Xiaodong YI, Zhongxuan CAI, Yanzhen WANG
2018 Chinese journal of electronics  
Programming control systems for mobile robots is complicated and time-consuming, due to three aspects, i.e., the robot behavior coordination, the distributed multi-robot cooperation and the robot software  ...  Subsumption model is a robust control architecture for mobile robots. ALLIANCE model extends it to multirobot systems, which is a fully distributed, fault-tolerant model.  ...  In this paper, we aim at solving the problem of designing and implementing a software framework for the development of single-mobile-robot and multi-mobile-robot systems.  ... 
doi:10.1049/cje.2018.03.001 fatcat:kwsjnhkyzvaehaevxavpgov7ai

Architecting Robotics and Automation Societies over Reusable Software Frameworks: the Case of the G++ Agent Platform

Franco Guidi-Polanco, Claudio Cubillos
2011 International Journal of Computers Communications & Control  
The framework is structured as a multi-layer reusable architecture, adopting the software agent as the design paradigm.  ...  In this paper, an overview of its main features is offered, and an example of its adoption in the design of a robot colony is provided.  ...  This paper offers a description of the state of the art in software architectures for robotics and automation systems, and describes our agent-based framework architecture (the G++ Agent Platform).  ... 
doi:10.15837/ijccc.2011.1.2203 fatcat:refuwc7fpzaojkqgu5o2clvgt4

MERMAID – MULTIPLE-ROBOT MIDDLEWARE FOR INTELLIGENT DECISION-MAKING

Marco Barbosa, Nelson Ramos, Pedro Lima
2007 IFAC Proceedings Volumes  
This paper describes the basic concepts and features of MeRMaID (Multiple-Robot Middleware for Intelligent Decision-making), a robot programming framework whose goal is to provide a simplified and systematic  ...  high-level behavior programming environment for multi-robot teams.  ...  It activates roles in each of the team robots · Behavior Coordinator: responsible for behavior selection and coordination.  ... 
doi:10.3182/20070903-3-fr-2921.00073 fatcat:ij5dtatyfjbalfhx2fnn4p3itq

A Context Aware Multi-robot Coordination System Based on Agent Technology

Alberto Grosso, Davide Anghinolfi, Antonio Boccalatte, Giorgio Cannata
2010 Workshop From Objects to Agents  
This paper presents an approach for multi-robot coordination based both on coordinated navigation and task allocation method.  ...  The coordination of the multi-robot system is based on agent interaction and negotiation, and a communication infrastructure based on open web standards is provided.  ...  -Robot Control Architecture We adopt the agent paradigm for modeling the single robot control architecture and the whole multi-robot systems.  ... 
dblp:conf/woa/GrossoABC10 fatcat:qvttyvqlzzcaxmmnvhqotc5xku

A Framework for Coordinated Control of Multi-Agent Systems [chapter]

Howard Li, Fakhri Karray, Otman Basir
2010 Studies in Computational Intelligence  
In this architecture, several modules are defined for an agent. However, this framework only deals with the domain of a multi-robot system.  ...  An agent's architecture is proposed in [38] for multi-robot systems.  ...  In Chapter 6, we have demonstrated that we can implement the proposed framework to develop the control algorithm for both homogeneous and heterogeneous multi-agent systems.  ... 
doi:10.1007/978-3-642-14435-6_3 fatcat:h45oj7iy75cxbne7yvjhmvsvei

Manipulating Complex Robot Behavior for Autonomous and Continuous Operations [chapter]

Chengliang Liu, Liang Gong, Wei Zhang
2020 Service Robotics [Working Title]  
The fluency of concurrent task management shows the feasibility of manipulating complex robot behavior for autonomous and continuous operations with the finite state machine model and task level architecture  ...  with a state machine-based architecture.  ...  Acknowledgements This work was supported by the National Natural Science Foundation of China (No. 51775333) and the Scientific Research Program of Shanghai Science and Technology Commission (No. 18391901000  ... 
doi:10.5772/intechopen.92254 fatcat:pys4p4z3zfdchnmxajwfll43re

A Survey on Multi-Robot Coordination in Electromagnetic Adversarial Environment: Challenges and Techniques

Yunlong Wu, Xiaoguang Ren, Hao Zhou, Yanzhen Wang, Xiaodong Yi
2020 IEEE Access  
Wireless communications and networking are playing an important role in coordination and cooperation of multi-robot systems (MRS).  ...  Finally, typical robotics software architectures are introduced, as frameworks for efficient arrangement of the above mentioned enabling techniques.  ...  SOFTWARE ARCHITECTURE In above subsections, we have summarized the enabling techniques for solving multi-robot coordination in EA environment.  ... 
doi:10.1109/access.2020.2981408 fatcat:d6bz4mrglvh4lgvzotia5omjri

ESAIR: A Behavior-Based Robotic Software Architecture on Multi-Core Processor Platforms

Chin-Yuan Tseng, Yu-Lun Huang, Jwu-Sheng Hu
2013 International Journal of Automation and Smart Technology  
This paper introduces an Embedded Software Architecture for Intelligent Robot systems (ESAIR) that addresses issues with parallel thread executions on multi-core processor platforms.  ...  ESAIR provides a thread scheduling interface to improve the execution performance of a robot system by assigning a dedicated core to a running thread on-the-fly and dynamically rescheduling the priority  ...  Conclusion In this paper, we proposed a behavior-based robotic software architecture (ESAIR) for a multi-core platform. ESAIR offers a framework that integrates many features in a robot system.  ... 
doi:10.5875/ausmt.v3i1.167 fatcat:yknjm6bi3bhqxg5dp3sz2nyliy

A Networking Framework for Multi-Robot Coordination [chapter]

Antonio Chella, Giuseppe Lo, Irene Macaluso, Marco Ortolani, Daniele Peri
2008 Recent Advances in Multi Robot Systems  
The proposed framework is called RoboNet, and extends a previously developed robotic tour guide application in the context of a multi-robot application; our system allows a team of robots to enhance their  ...  Section 2 contains some background on multi-robot coordination, and Section 3 describes the underlying ideas and the motivation behind the proposed architecture, whose details are presented in Sections  ...  The state prediction at time t is: www.intechopen.com A Networking Framework for Multi-Robot Coordination 7 ⎟ ⎟ ⎟ ⎟ ⎟ ⎟ ⎟ ⎠ ⎞ ⎜ ⎜ ⎜ ⎜ ⎜ ⎜ ⎜ ⎝ ⎛ Δ Δ + − Δ + + − + = − t t v v t v v t t t t t t t t t t t  ... 
doi:10.5772/5474 fatcat:ggk2pzj73jajxgeclrwgl66m4u

Learning Multi-Arm Manipulation Through Collaborative Teleoperation [article]

Albert Tung, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Yuke Zhu, Li Fei-Fei, Silvio Savarese
2020 arXiv   pre-print
Finally, we propose and evaluate a base-residual policy framework that allows trained policies to better adapt to the mixed coordination setting common in multi-arm manipulation, and show that a centralized  ...  for a maximum of two robot arms.  ...  ACKNOWLEDGMENT We would like to thank Rohun Kulkarni and Margaret Tung for helping with data collection.  ... 
arXiv:2012.06738v1 fatcat:lawzan47v5elbbwrtd2exijt5a
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