4 October 2001 Development of CAMPOUT and its further applications to planetary rover operations: a multirobot control architecture
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Proceedings Volume 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV; (2001) https://doi.org/10.1117/12.444151
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States
Abstract
In this paper, we describe an architecture for the development of autonomy software for multi-robot distributed control and collective estimation. CAMPOUT, the Control Architecture for Multi-Robot Planetary OUTposts, provides communication facilities for sharing of state information across robots and it uses a behavior network for representation and execution of group activities as well as the activities of a single robot. In our research, we have shown that CAMPOUT provides a level of abstraction that enables us to develop multi-robot software in a manner much similar to what we use for single robot software development. We showcase the main architectural components by describing two multi-robot tasks for planetary construction and collective cliff-descent. For both tasks, we show how behavior networks can be used to describe group activities and how publish/subscribe and other communication mechanisms can be used to share state information across multiple robots.
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Paolo Pirjanian, Paolo Pirjanian, Terrance L. Huntsberger, Terrance L. Huntsberger, Paul S. Schenker, Paul S. Schenker, "Development of CAMPOUT and its further applications to planetary rover operations: a multirobot control architecture", Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); doi: 10.1117/12.444151; https://doi.org/10.1117/12.444151
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