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Multi-Robot Systems: From Swarms to Intelligent Automata

Proceedings from the 2002 NRL Workshop on Multi-Robot Systems

  • Conference proceedings
  • © 2002

Overview

Editors:
  1. Alan C. Schultz

    1. Naval Research Laboratory, USA

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  2. Lynne E. Parker

    1. Oak Ridge National Laboratory, Oak Ridge, USA

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  • Documents recent cutting-edge developments in multi-robot systems research

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Table of contents (26 papers)

  1. Front Matter

    Pages i-ix
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  2. Localization, Mapping and Navigation

    1. Front Matter

      Pages 1-1
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    2. On the Positional Uncertainty of Multi-Robot Cooperative Localization

      • Ioannis M. Rekleitis, Gregory Dudek, Evangelos E. Milios
      Pages 3-10

    3. A Multi-Agent System for Multi-Robot Mapping and Exploration

      • Kurt Konolige, Didier Guzzoni, Keith Nicewarner
      Pages 11-19

    4. Distributed Heterogeneous Sensing for Outdoor Multi-Robot Localization, Mapping, and Path Planning

      • Lynne E. Parker, Kingsley Fregene, Yi Guo, Raj Madhavan
      Pages 21-30

    5. Mission-Relevant Collaborative Observation and Localization

      • Ashley W. Stroupe, Tucker Balch
      Pages 31-40

    6. Deployment and Localization for Mobile Robot Teams

      • Andrew Howard, Maja J. Matarić
      Pages 41-51

    7. Multiple Autonomous Robots for UXO Clearance, the Basic UXO Gathering System (Bugs) Project

      • Tuan N. Nguyen, Christopher O’Donnell, Tuan B. Nguyen
      Pages 53-61

  3. Distributed Surveillance

    1. Front Matter

      Pages 63-63
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    2. Programming and Controlling the Operations of a Team of Miniature Robots

      • Paul E. Rybski, Sascha A. Stoeter, Maria Gini, Nikolaos Papanikolopoulos
      Pages 65-72

    3. Autonomous Flying Vehicle Research at the University of Southern California

      • Srikanth Saripalli, David J. Naffin, Gaurav S. Sukhatme
      Pages 73-80

  4. Manipulation

    1. Front Matter

      Pages 81-81
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    2. Distributed Manipulation of Multiple Objects Using Ropes

      • Bruce Donald, Larry Gariepy, Daniela Rus
      Pages 83-91

    3. A Distributed Multi-Robot System for Cooperative Manipulation

      • Aveek Das, John Spletzer, Vijay Kumar, Camillo Taylor
      Pages 93-100

  5. Coordination and Formations

    1. Front Matter

      Pages 101-101
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    2. A Layered Architecture for Coordination of Mobile Robots

      • Reid Simmons, Trey Smith, M. Bernardine Dias, Dani Goldberg, David Hershberger, Anthony Stentz et al.
      Pages 103-112

    3. Stability Analysis of Decentralized Cooperative Controls

      • John T. Feddema, David A. Schoenwald
      Pages 113-122

    4. Snow White and the 700 Dwarves

      • Brian H. Wilcox
      Pages 123-130

  6. Sensor and Hardware Issues

    1. Front Matter

      Pages 131-131
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    2. Goats: Multi-Platform Sonar Concept for Coastal Mine Countermeasures

      • Henrik Schmidt, Joseph R. Edwards
      Pages 133-140
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Keywords

About this book

In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi­ robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau­ tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi­ robot systems and human-robot interaction. The first two days of the workshop of1ocalizatio~. concentrated on multi-robot control issues, including the topics mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu­ man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions.

Editors and Affiliations

  • Naval Research Laboratory, USA

    Alan C. Schultz

  • Oak Ridge National Laboratory, Oak Ridge, USA

    Lynne E. Parker

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