Intelligent behaviors allow a convoy of small indoor robots to perform high-level mission tasking. These behaviors include various implementations of map building, localization, obstacle avoidance, object recognition, and navigation. Several behaviors have been developed by SSC San Diego, with integration of other behaviors developed by opensource projects and a technology transfer effort funded by DARPA. The test system, developed by SSC San Diego, consists of ROBART III (a prototype security

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... obot), serving as the master platform, and a convoy of four ActivMedia ® Pioneer 2-DX robots. Each robot, including ROBART III, is equipped with a SICK ® LMS 200 laser rangefinder. Using integrated wireless network repeaters, the Pioneer 2-DX robots maintain an ad hoc communication link between the operator and ROBART III. The Pioneer 2-DX robots can also act as rear guards to detect intruders in areas that ROBART III has previously explored. These intelligent behaviors allow a single operator to command the entire convoy of robots during a mission in an unknown environment.