Global reconfiguration of a team of networked mobile robots among obstacles
Fitch, Robert, Alempijevic, Alen, & Peynot, Thierry (2016) Global reconfiguration of a team of networked mobile robots among obstacles. In Intelligent Autonomous Systems 13: Proceedings of the 13th International Conference IAS-13 [Advances in Intelligent Systems and Computing, Volume 302], Springer, Padua, Italy, pp. 639-656.
This paper presents a full system demonstration of dynamic sensorbased reconfiguration of a networked robot team. Robots sense obstacles in their environment locally and dynamically adapt their global geometric configuration to conform to an abstract goal shape. We present a novel two-layer planning and control algorithm for team reconfiguration that is decentralised and assumes local (neighbour-to-neighbour) communication only. The approach is designed to be resource-efficient and we show experiments using a team of nine mobile robots with modest computation, communication, and sensing. The robots use acoustic beacons for localisation and can sense obstacles in their local neighbourhood using IR sensors. Our results demonstrate globally-specified reconfiguration from local information in a real robot network, and highlight limitations of standard mesh networks in implementing decentralised algorithms.
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|Item Type:||Conference Paper|
|Keywords:||mobile robotics, multi-robot systems, team reconfiguration, networked robots|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2014 Please consult the authors|
|Deposited On:||31 Jul 2014 22:56|
|Last Modified:||06 Jun 2016 14:11|
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