Global reconfiguration of a team of networked mobile robots among obstacles

Fitch, R; Alempijevic, A; Peynot, T

Global reconfiguration of a team of networked mobile robots among obstacles

Fitch, R

Alempijevic, A

Peynot, T

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Publication Type:: Chapter
Citation:: 2016, 302 pp. 639 - 656
Issue Date:: 2016-01-01

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Field	Value	Language
dc.contributor.author	Fitch, R https://orcid.org/0000-0003-2215-5188	en_US
dc.contributor.author	Alempijevic, A https://orcid.org/0000-0002-1769-8041	en_US
dc.contributor.author	Peynot, T	en_US
dc.date.issued	2016-01-01	en_US
dc.identifier.citation	2016, 302 pp. 639 - 656	en_US
dc.identifier.isbn	9783319083377	en_US
dc.identifier.uri	http://hdl.handle.net/10453/34291
dc.description.abstract	© Springer International Publishing Switzerland 2016. This paper presents a full system demonstration of dynamic sensor-based reconfiguration of a networked robot team. Robots sense obstacles in their environment locally and dynamically adapt their global geometric configuration to conform to an abstract goal shape. We present a novel two-layer planning and control algorithm for team reconfiguration that is decentralised and assumes local (neighbour-toneighbour) communication only. The approach is designed to be resource-efficient and we show experiments using a team of nine mobile robots with modest computation, communication and sensing. The robots use acoustic beacons for localisation and can sense obstacles in their local neighbourhood using IR sensors. Our results demonstrate globally specified reconfiguration from local information in a real robot network, and highlight limitations of standardmesh networks in implementing decentralised algorithms.	en_US
dc.relation.isbasedon	10.1007/978-3-319-08338-4_47	en_US
dc.title	Global reconfiguration of a team of networked mobile robots among obstacles	en_US
dc.type	Chapter
utslib.citation.volume	302	en_US
utslib.for	080101 Adaptive Agents and Intelligent Robotics	en_US
utslib.for	091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	Padova, Italy
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	302	en_US

Abstract:

© Springer International Publishing Switzerland 2016. This paper presents a full system demonstration of dynamic sensor-based reconfiguration of a networked robot team. Robots sense obstacles in their environment locally and dynamically adapt their global geometric configuration to conform to an abstract goal shape. We present a novel two-layer planning and control algorithm for team reconfiguration that is decentralised and assumes local (neighbour-toneighbour) communication only. The approach is designed to be resource-efficient and we show experiments using a team of nine mobile robots with modest computation, communication and sensing. The robots use acoustic beacons for localisation and can sense obstacles in their local neighbourhood using IR sensors. Our results demonstrate globally specified reconfiguration from local information in a real robot network, and highlight limitations of standardmesh networks in implementing decentralised algorithms.

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http://hdl.handle.net/10453/34291