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 and reconnaissance, to search and rescue, to manipulation tasks, to cooperative localization and mapping, and formation control. Our software framework allows a modular and hierarchical approach to programming deliberative and reactive behaviors in autonomous operation. Formal definitions for
more » ... ntial composition, hierarchical composition, and parallel composition allow the bottom-up devel-opment of complex software systems. We demonstrate the algorithms and software on an experimental testbed that involves a group of carlike robots, each using a single omnidirectional camera as a sensor without explicit use of odometry. KEY WORDS-multi-robot coordination, hierarchical hybrid systems, vision-based control
doi:10.1177/027836402128964080 fatcat:ifmdj4adrzcp3gw5fp4zfil5pe