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Simulating actions and perception of autonomous mobile robots in a multi-agent indoor environment

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2 Author(s)
Lemoine, P. ; Dept. of Comput. Sci., Stanford Univ., CA, USA ; Le Pape, C.

The goal of the GOFER project is to control the operation of many mobile robots in an indoor environment in order to automate a variety of tasks. This project raises many research issues: man-robot and robot-robot communication systems and protocols, implementation of non-conflicting sensor systems, task-adapted strategy in the use of sensors, sensor fusion, contingency-tolerant motion control, multi-robot motion planning, multi-robot task planning and scheduling. The purpose of the paper is to focus on the integration of software dealing with various aspects of the overall problem. The paper presents a general simulation tool designed to package such software, and to evaluate and compare methods that solve some of the specific problems mentioned above in an unpredictable environment

Published in:

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Date of Conference:

3-5 Nov 1991

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