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Presents the implementation of a hierarchical architecture for the coordination and control of a heterogeneous team of autonomous agents. We consider the problem of having a team of agents pursue a second team of evaders while building a map of the environment. The control architecture emphasizes the autonomy of each agent yet allows for coordinated efforts among them. We address the technical challenges and implementation issues of multi-agent operation. Finally we present experimental results of a pursuit-evasion game scenario between unmanned ground and aerial vehicles.
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on (Volume:3 )
Date of Conference: 2001