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Proceedings Paper

Robot work crews for planetary outposts: close cooperation and coordination of multiple mobile robots
Author(s): Paul S. Schenker; Terrance L. Huntsberger; Paolo Pirjanian; Ashitey Trebi-Ollennu; Hari Das; Sanjay S. Joshi; Hrand Aghazarian; A. J. Ganino; Brett A. Kennedy; Michael S. Garrett
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Paper Abstract

We report on the development of cooperating multiple robots. This work builds form our earlier research on autonomous planetary rovers and robot arms. Here, we seek to closely coordinate the mobility and manipulation of multiple robots to perform site construction operations- as an example, the autonomous deployment of a planetary power station- a task viewed as essential to a sustained robotic presence and human habitation on Mars. There are numerous technical challenges; these include the mobile handling of extended objects, as well as cooperative transport/navigation of such objects over natural, unpredictable terrain. We describe an extensible system concept, related simulations, a hardware implementation, and preliminary experimental results. In support of this work we have developed an enabling hybrid control architecture wherein multi-robot mobility and sensor-based controls are derived as group compositions and coordination of more basic behaviors under a task-level multi-agent planner. We summarize this Control Architecture for Multi-robot Planetary Outposts (CAMPOUT), and its application to physical experiments where two rovers carry an extended payload over natural terrain.

Paper Details

Date Published: 16 October 2000
PDF: 11 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403720
Show Author Affiliations
Paul S. Schenker, Jet Propulsion Lab. (United States)
Terrance L. Huntsberger, Jet Propulsion Lab. (United States)
Paolo Pirjanian, Jet Propulsion Lab. (United States)
Ashitey Trebi-Ollennu, Jet Propulsion Lab. (United States)
Hari Das, Jet Propulsion Lab. (United States)
Sanjay S. Joshi, Jet Propulsion Lab. (United States)
Hrand Aghazarian, Jet Propulsion Lab. (United States)
A. J. Ganino, Jet Propulsion Lab. (United States)
Brett A. Kennedy, Jet Propulsion Lab. (United States)
Michael S. Garrett, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 4196:
Sensor Fusion and Decentralized Control in Robotic Systems III
Gerard T. McKee; Paul S. Schenker, Editor(s)

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