Mobile-R: A Reconfigurable Cooperative Control Platform for Rapid Deployment of Multi-Robot Systems
Cooperative multi-robot systems have been used in a vast array of fields and are of particular interest in perilous environments. One of the main issues in multi-robot systems is the lack of a common set of programming and control abstractions and middleware. Controlling and programming cooperative multi-robot systems is a highly complicated task that requires a flexible and agile control architecture and programming environment that are able to handle the distributed nature of multi-robot systems. A generalized, highly flexible and reconfigurable cooperative robot control platform called Mobile-R has been developed. Mobile-R consists of a mobile agent-based robot control system and a mission-based rapid deployment system. A real-world validation experiment involving cooperative multi-robot perimeter patrolling is presented.
Stephen S. Nestinger Harry. H. Cheng
Mechanical Engineering Department and Robotics Engineering Program,Worcester Polytechnic Institute,1 Department of Mechanical and Aerospace Engineering,University of California,Davis,CA 95616,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
52-57
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）