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Proceedings Paper

Development of CAMPOUT and its further applications to planetary rover operations: a multirobot control architecture
Author(s): Paolo Pirjanian; Terrance L. Huntsberger; Paul S. Schenker
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Paper Abstract

In this paper, we describe an architecture for the development of autonomy software for multi-robot distributed control and collective estimation. CAMPOUT, the Control Architecture for Multi-Robot Planetary OUTposts, provides communication facilities for sharing of state information across robots and it uses a behavior network for representation and execution of group activities as well as the activities of a single robot. In our research, we have shown that CAMPOUT provides a level of abstraction that enables us to develop multi-robot software in a manner much similar to what we use for single robot software development. We showcase the main architectural components by describing two multi-robot tasks for planetary construction and collective cliff-descent. For both tasks, we show how behavior networks can be used to describe group activities and how publish/subscribe and other communication mechanisms can be used to share state information across multiple robots.

Paper Details

Date Published: 4 October 2001
PDF: 12 pages
Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); doi: 10.1117/12.444151
Show Author Affiliations
Paolo Pirjanian, Jet Propulsion Lab. (United States)
Terrance L. Huntsberger, Jet Propulsion Lab. (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 4571:
Sensor Fusion and Decentralized Control in Robotic Systems IV
Gerard T. McKee; Paul S. Schenker, Editor(s)

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