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Mobile-R: A reconfigurable cooperative control platform for rapid deployment of multi-robot systems

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2 Author(s)
Nestinger, S.S. ; Mech. Eng. Dept., Worcester Polytech. Inst., Worcester, MA, USA ; Cheng, H.H.

Cooperative multi-robot systems have been used in a vast array of fields and are of particular interest in perilous environments. One of the main issues in multi-robot systems is the lack of a common set of programming and control abstractions and middleware. Controlling and programming cooperative multi-robot systems is a highly complicated task that requires a flexible and agile control architecture and programming environment that are able to handle the distributed nature of multi-robot systems. A generalized, highly flexible and reconflgurable cooperative robot control platform called Mobile-R has been developed. Mobile-R consists of a mobile agent-based robot control system and a mission-based rapid deployment system. A real-world validation experiment involving cooperative multi-robot perimeter patrolling is presented.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011