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Proceedings Paper

Modular behaviors in heterogeneous groups of mobile robots
Author(s): Goksel Dedeoglu; Gaurav S. Sukhatme
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Paper Abstract

We provide an overview of the software components underlying four different tasks performed by a heterogeneous group of mobile robots. These tasks are drawn from three domains 1. Robot Competitions (Robot Soccer and Find Life on Mars), 2. Security and Surveillance (Perimeter Protection) and 3. Building Environmental Models (Multi-Robot Navigation and Mapping). Once decomposed as a set of cooperating behaviors, we show how these (seemingly unrelated) tasks lead to similar solutions as far as their modular breakdown is concerned, thereby yielding high reusability. Although our collection of robot platforms is notably diverse in terms of mechanics, sensory and computational capabilities, cross-platform migration and extension of existing behavior assemblages require minimal programming effort.

Paper Details

Date Published: 16 October 2000
PDF: 8 pages
Proc. SPIE 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, (16 October 2000); doi: 10.1117/12.403746
Show Author Affiliations
Goksel Dedeoglu, Univ. of Southern California (United States)
Gaurav S. Sukhatme, Univ. of Southern California (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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