Heterogeneous teams of modular robots for mapping and exploration

被引:106
作者
Grabowski, R [1 ]
Navarro-Serment, LE
Paredis, CJJ
Khosla, PK
机构
[1] Carnegie Mellon Univ, Dept Elect & Comp Engn, Pittsburgh, PA 15213 USA
[2] Carnegie Mellon Univ, Inst Complex Engineered Syst, Pittsburgh, PA 15213 USA
[3] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA
基金
美国安德鲁·梅隆基金会;
关键词
collaborative; heterogeneous; modular; distributed; semi-autonomous;
D O I
10.1023/A:1008933826411
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
In this article, we present the design of a team of heterogeneous, centimeter-scale robots that collaborate to map and explore unknown environments. The robots, called Millibots, are configured from modular components that include sonar and IR sensors, camera, communication, computation, and mobility modules. Robots with different configurations use their special capabilities collaboratively to accomplish a given task. For mapping and exploration with multiple robots, it is critical to know the relative positions of each robot with respect to the others. We have developed a novel localization system that uses sonar-based distance measurements to determine the positions of all the robots in the group. With their positions known, we use an occupancy grid Bayesian mapping algorithm to combine the sensor data from multiple robots with different sensing modalities. Finally, we present the results of several mapping experiments conducted by a user-guided team of five robots operating in a room containing multiple obstacles.
引用
收藏
页码:293 / 308
页数:16
相关论文
共 29 条
[1]  
[Anonymous], P 1993 IEEE RSJ INT
[2]  
ARKIN RC, 1998, COOPERATIVE MULTIAGE
[3]   REAL-TIME VISION-BASED ROBOT LOCALIZATION [J].
ATIYA, S ;
HAGER, GD .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1993, 9 (06) :785-800
[4]  
Borenstein J., 1996, NAVIGATING MOBILE RO
[5]   EXTRACTION AND PURIFICATION OF TOXIC PEPTIDES FROM NATURAL BLOOMS AND LABORATORY ISOLATES OF THE CYANOBACTERIUM MICROCYSTIS-AERUGINOSA [J].
BROOKS, WP ;
CODD, GA .
LETTERS IN APPLIED MICROBIOLOGY, 1986, 2 (01) :1-3
[6]  
CONTICELLI F, 1999, ICES040599 C MELL U
[7]  
DIEHL P, 1999, SPIE 13 ANN INT S AE
[8]  
DIXON K, 1999, P IEEE RSJ INT C INT
[9]  
DIXON KR, 2000, P INT WORKSH SELF AD
[10]  
DOLAN JM, 1999, SPIE 13 ANN INT S AE