A robot team for surveillance tasks: Design and architecture

Sascha A. Stoeter; Paul E. Rybski; Kristen N. Stubbs; Colin P. McMillen; Maria Gini; Dean F. Hougen; Nikolaos Papanikolopoulos

doi:10.1016/S0921-8890(02)00242-7

A robot team for surveillance tasks: Design and architecture

Sascha A. Stoeter, Paul E. Rybski, Kristen N. Stubbs, Colin P. McMillen, Maria Gini, Dean F. Hougen, Nikolaos Papanikolopoulos

Computer Science and Engineering

Research output: Contribution to journal › Article › peer-review

35 Scopus citations

Abstract

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.

Original language	English (US)
Pages (from-to)	173-183
Number of pages	11
Journal	Robotics and Autonomous Systems
Volume	40
Issue number	2-3
DOIs	https://doi.org/10.1016/S0921-8890(02)00242-7
State	Published - Aug 31 2002

Bibliographical note

Funding 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.

Keywords

Multiple robots
Resource allocation
Software architecture
Surveillance applications

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10.1016/S0921-8890(02)00242-7

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AU - Gini, Maria

AU - Hougen, Dean F.

AU - Papanikolopoulos, Nikolaos

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A robot team for surveillance tasks: Design and architecture

Abstract

Bibliographical note

Keywords

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