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IJRR
2006

Experiments with a Large Heterogeneous Mobile Robot Team: Exploration, Mapping, Deployment and Detection

9 years 2 months ago
Experiments with a Large Heterogeneous Mobile Robot Team: Exploration, Mapping, Deployment and Detection
We describe the design and experimental validation of a large heterogeneous mobile robot team built for the DARPA Software for Distributed Robotics (SDR) program. The core challenge for the SDR program was to develop a multi-robot system capable of carrying out a specific mission: to deploy a large number of robots into an unexplored building, map the building interior, detect and track intruders, and transmit all of the above information to a remote operator. To satisfy these requirements, we developed a heterogeneous robot team consisting of approximately 80 robots. We sketch the key technical elements of this team, focusing on the novel aspects, and present selected results from supervised experiments conducted in a 600 m2 indoor environment.
Andrew Howard, Lynne E. Parker, Gaurav S. Sukhatme
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2006
Where IJRR
Authors Andrew Howard, Lynne E. Parker, Gaurav S. Sukhatme
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