Date of this Version
Rajeev Alur, Aveek J. Das, Joel Esposito, Rafael Fierro, Gregory Grudic, Yerang Hur, R. Vijay Kumar, Insup Lee, James Ostrowski, George J. Pappas, B. Southall, John R. Spletzer, and Camillo J. Taylor, "A Framework and Architecture for Multi-Robot Coordination", International Journal of Robotics Research 21(10-11), 977-995. October 2002. http://dx.doi.org/10.1177/0278364902021010981
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.
CPS Model-Based Design, CPS Formal Methods
International Journal of Robotics Research
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/
Date Posted: 11 September 2005
This document has been peer reviewed.