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Proceedings Paper

Control of the Fetch team of robots
Author(s): Polly K. Pook; Sarah J. Finney; Kim Barrett; George Whittinghill
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Paper Abstract

Fetch 2 is a team of four small autonomous robots that are under development for the purpose of 'pickup and carry away' unexploded ordnance removal. Individually or as a team, the robots can be tasked by a remote operator to locally search a list of specific coordinates or to perform a full coverage sweep of the terrain. The control strategy is one of supervised autonomy: the robots operate autonomously but support and submit to a 'human in the loop'. The robots perform autonomous behavioral control within a subsumptive framework. A separate operator control unit coordinates the robots to perform the remediation operation efficiently and with minimal inter-robot interference. The platform will provide a unique testbed to address such issues as cooperation and coordination of a team of robots performing a collaborative mission. One control mechanisms of particular interest is the use of 'virtual sensors' to allow external guidance from other robots, a global map, or a human operator to be transparently incorporated into by each robot.

Paper Details

Date Published: 8 January 1999
PDF: 7 pages
Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); doi: 10.1117/12.335707
Show Author Affiliations
Polly K. Pook, IS Robotics (United States)
Sarah J. Finney, IS Robotics (United States)
Kim Barrett, IS Robotics (United States)
George Whittinghill, ISX (United States)


Published in SPIE Proceedings Vol. 3525:
Mobile Robots XIII and Intelligent Transportation Systems
Howie M. Choset; Pushkin Kachroo; Mikhail A. Kourjanski; Douglas W. Gage; Pushkin Kachroo; Marten J. de Vries; Mikhail A. Kourjanski; Marten J. de Vries, Editor(s)

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