Vision-based Effective Dispersion of Miniature Robots by Using Local Sensing

This paper introduces a vision-based algorithm for effectively dispersing multiple robots to accomplish search or surveillance missions by using local sensing information. A marsupial system can deliver several small robots, and small robots are useful for strategically placing themselves in areas of interest. The issue in this marsupial system approach is how to effectively deploy multiple robots to cover the whole task area. To accomplish this goal a marsupial system equipped with multiple miniature robots first drives into the center of the task area, and unloads them in order. Several experimental results will be presented from using the Loper, Adelopod,Saddlepack, and Explorer robotic platforms developed at the University of Minnesota.