Handle URI:
http://hdl.handle.net/10754/598901
Title:
Multi-robot caravanning
Authors:
Denny, Jory; Giese, Andrew; Mahadevan, Aditya; Marfaing, Arnaud; Glockenmeier, Rachel; Revia, Colton; Rodriguez, Samuel; Amato, Nancy M.
Abstract:
We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.
Citation:
Denny J, Giese A, Mahadevan A, Marfaing A, Glockenmeier R, et al. (2013) Multi-robot caravanning. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Available: http://dx.doi.org/10.1109/IROS.2013.6697185.
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Journal:
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
KAUST Grant Number:
KUS-C1-016-04
Issue Date:
Nov-2013
DOI:
10.1109/IROS.2013.6697185
Type:
Conference Paper
Sponsors:
This research supported in part by NSF awards CNS-0551685, CCF-0833199, CCF-0830753, IIS-0917266, IIS-0916053, EFRI-1240483, RI-1217991, by NIH NCI R25 CA090301-11, by THECB NHARP award000512-0097-2009, by Chevron, IBM, Intel, Oracle/Sun and by AwardKUS-C1-016-04, made by King Abdullah University of Science and Technology(KAUST).
Appears in Collections:
Publications Acknowledging KAUST Support

Full metadata record

DC FieldValue Language
dc.contributor.authorDenny, Joryen
dc.contributor.authorGiese, Andrewen
dc.contributor.authorMahadevan, Adityaen
dc.contributor.authorMarfaing, Arnauden
dc.contributor.authorGlockenmeier, Rachelen
dc.contributor.authorRevia, Coltonen
dc.contributor.authorRodriguez, Samuelen
dc.contributor.authorAmato, Nancy M.en
dc.date.accessioned2016-02-25T13:43:22Zen
dc.date.available2016-02-25T13:43:22Zen
dc.date.issued2013-11en
dc.identifier.citationDenny J, Giese A, Mahadevan A, Marfaing A, Glockenmeier R, et al. (2013) Multi-robot caravanning. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Available: http://dx.doi.org/10.1109/IROS.2013.6697185.en
dc.identifier.doi10.1109/IROS.2013.6697185en
dc.identifier.urihttp://hdl.handle.net/10754/598901en
dc.description.abstractWe study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution that requires minimal communication and scales with the number of waypoints and robots. Our approach restricts explicit communication and coordination to occur only when robots reach waypoints, and relies on implicit coordination when moving between a given pair of waypoints. At the heart of our algorithm is the use of leader election to efficiently exploit the unique environmental knowledge available to each robot in order to plan paths for the group, which makes it general enough to work with robots that have heterogeneous representations of the environment. We implement our approach both in simulation and on a physical platform, and characterize the performance of the approach under various scenarios. We demonstrate that our approach can successfully be used to combine the planning capabilities of different agents. © 2013 IEEE.en
dc.description.sponsorshipThis research supported in part by NSF awards CNS-0551685, CCF-0833199, CCF-0830753, IIS-0917266, IIS-0916053, EFRI-1240483, RI-1217991, by NIH NCI R25 CA090301-11, by THECB NHARP award000512-0097-2009, by Chevron, IBM, Intel, Oracle/Sun and by AwardKUS-C1-016-04, made by King Abdullah University of Science and Technology(KAUST).en
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en
dc.titleMulti-robot caravanningen
dc.typeConference Paperen
dc.identifier.journal2013 IEEE/RSJ International Conference on Intelligent Robots and Systemsen
dc.contributor.institutionTexas A and M University, College Station, United Statesen
kaust.grant.numberKUS-C1-016-04en
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