View Full Document

Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams



View the full content.
View Full Document
View Full Document

3 views

Unformatted text preview:

Proceedings of the 2004 IEEE International Conference on Robotics Automation New Orleans LA April 2004 Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams Robert Grabowski Pradeep Khosla and Howie Choset Carnegie Mellon University Electrical and Computer Engineering and Mechanical Engineering Department Pittsburgh Pennsylvania 15213 grabowski pkk choset cs cmu edu Abstract For a team of cooperating robots geometry plays a vital role in operation Knowledge of line of sight to local obstacles and adjacent teammates is critical in both the movement and planning stages to avoid collisions maintain formation and localize the team However determining if other robots are within the line of sight of one another is difficult with existing sensor platforms especially as the scale of the robot is reduced We describe a method of exploiting collective team information to generate a virtual sensor that provides line of sight determination greater range and resolution and the ability to generalize local sensing We develop this sensor and apply it to the control of a tightly coupled resourcelimited robot team called Millibots Keywords component heterogeneous control mobile I robot teams sensing INTRODUCTION Robots are versatile machines that can be programmed to react collectively to sensor information in a variety of tasks that range from surveillance and reconnaissance to rescue support Despite this versatility a single robot cannot always realize all applications On the other hand a team of robots can coordinate action and sensing to extend a collection of individual entities to a single cohesive group To facilitate this coordination a robot team must be able to manage its formation to exchange information and leverage the proximity of the others Figure 1 The Millibot Team a heterogeneous collection of small scale robots designed on the 5cm scale 0 7803 8232 3 04 17 00 2004 IEEE Formation control is essential in many aspects of team coordination



Access the best Study Guides, Lecture Notes and Practice Exams

Loading Unlocking...
Login

Join to view Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams and access 3M+ class-specific study document.

or
We will never post anything without your permission.
Don't have an account?
Sign Up

Join to view Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams and access 3M+ class-specific study document.

or

By creating an account you agree to our Privacy Policy and Terms Of Use

Already a member?