Reduced cost of robotic hardware enables the use of teams of robots instead of a single device. Multi-robot approaches promise faster results and more robust systems as each individual robot becomes dispensable. Given higher numbers of robots, writing dependable control software becomes more complex and thus more expensive. Consequently, a software architecture that is readily applied to new missions becomes essential. In the following, an architecture for distributed control of a team of heterogeneous mobile robots is introduced. Design as well as implementation details are presented. A distinguishing feature of the architecture is its versatility in handling resources. An example application for a surveillance task is discussed.
Bibliographical noteFunding Information:
This material is based upon the work supported by the Defense Advanced Research Projects Agency, Microsystems Technology Office (Distributed Robotics), ARPA Order No. G155, Program Code No. 8H20, issued by DARPA/CMD under Contract No. MDA972-98-C-0008.
- Multiple robots
- Resource allocation
- Software architecture
- Surveillance applications