Departmental Papers (CIS)

Date of this Version

October 2002

Document Type

Journal Article

Comments

Copyright Sage Publications. Postprint version. Published in International Journal of Robotics Research, Volume 21, Issue 10-11, October-November 2002, pages 977-995.

Abstract

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 and manipulation tasks. Our software framework provides the methodology and the tools that enable robots to exhibit deliberative and reactive behaviors in autonomous operation, to be reprogrammed by a human operator at run-time, and to learn and adapt to unstructured, dynamic environments and new tasks, while providing performance guarantees. We demonstrate the algorithms and software on an experimental testbed that involves a team of car-like robots using a single omnidirectional camera as a sensor without explicit use of odometry.

Subject Area

CPS Model-Based Design, CPS Formal Methods

Publication Source

International Journal of Robotics Research

Volume

21

Issue

10-11

Start Page

977

Last Page

995

DOI

10.1177/0278364902021010981

Copyright/Permission Statement

The final, definitive version of this article has been published in the Journal, International Journal of Robotics Research, Vol 21/Issue Number 10-11, 2002, © SAGE Publications, Inc., 2002 by SAGE Publications, Inc. at the International Journal of Robotics Research page: http://ijr.sagepub.com/ on SAGE Journals Online: http://online.sagepub.com/

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Date Posted: 11 September 2005

This document has been peer reviewed.