Cooperative Tasks Using Teams of Mobile Robots

IGNACIO MAS; CHRISTOPHER KITTS

IAENG Transactions on Engineering Technologies

Springer

Año: 2014; p. 83 - 99

The coordination framework for mobile robots called cluster space control is reviewed and implementedusing different robotic platforms to demonstrate specific multirobot cooperative tasks. In particular, resultson multirobot object transportation and target patrolling are presented through experimental tests.Additionally, simulations on a marine oil skimming mission performed with two autonomous surfacevessels are presented to illustrate the wide range of possible multirobot applications utilizing the clusterspace approach. The level of abstraction introduced by this coordination framework facilitates theexecution of the tasks, allowing for specification, control and monitoring of formation parameters such asposition, orientation and shape of the group, instead of the positions of the individual robot members.