Marsupial-like mobile robot societies

Murphy, Robin R.; Ausmus, Michelle; Bugajska, Magdalena D.; Ellis, Tanya; Johnson, Tonia; Kelley, Nia; Kiefer, Jodi; Pollock, Lisa

doi:10.1145/301136.301236

Cited by 60 publications

(22 citation statements)

References 2 publications

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“…Another possibility are marsupial systems that have a homogenous group of small robots, that can be transported by a "mothership" [10], [11]; therefore CMP-MAR is introduced.…”

Section: B What Is Cooperation?mentioning

confidence: 99%

Multi-robot Cooperation in Space: A Survey

Leitner¹

2009

2009 Advanced Technologies for Enhanced Quality of Life

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Abstract-This paper reviews the literature related to multi-robot research with a focus on space applications. It starts by examining definitions of, and some of the fields of research, in multi-robot systems. An overview of space applications with multiple robots and cooperating multiple robots is presented. The multi-robot cooperation techniques used in theoretical research as well as experiments are reviewed, and the applicability for space applications is investigated.

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“…Another possibility are marsupial systems that have a homogenous group of small robots, that can be transported by a "mothership" [10], [11]; therefore CMP-MAR is introduced.…”

Section: B What Is Cooperation?mentioning

confidence: 99%

Multi-robot Cooperation in Space: A Survey

Leitner¹

2009

2009 Advanced Technologies for Enhanced Quality of Life

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“…Others have controlled team characteristics by simulating tenacity and impatience 9 . Researchers have also been investigating problems associated with close cooperation among robots on tasks such as marsupialism 8 and rendezvousing 10 .…”

Section: Tactical Mobile Robotics Overview and Technical Objectivesmentioning

confidence: 99%

<title>Use of mission roles as a robotic tasking device</title>

Anhalt

Spofford

1999

SPIE Proceedings

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With the increased use of specialized robots within heterogeneous robotic teams, as envisioned by DARPA's Tactical Mobile Robotics program, the task of dynamically assigning work to individual robots becomes more complex and critical to mission success. The team must be able to perform all essential aspects of the mission, deal with dynamic and complex environments, and detect, identify, and compensate for failures and losses within the robotic team. Our mission analysis of targeted military missions has identified single-robot roles, and collaborative (heterobotic) roles for the TMR robots. We define a role as a set of activities or behaviors that accomplish a single, militarily relevant goal. We will present the use of these roles to: 1) identify mobility and other requirements for the individual robotic platforms; 2) rate various robots' efficiency and efficacy for each role; and 3) identify which roles can be performed simultaneously and which cannot. We present a role-base algorithm for tasking heterogeneous robotic teams, and a mechanism for retasking the team when assets are gained or lost.

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“…For a task such as the autonomous exploration of lunar craters [6], one can imagine robots that approach the crater and then deploy a specialized robot which descents into the crater. Robots that are able to deploy and retrieve other robots have also been referred to as marsupial robots [17]. Such heterogeneous robots typically require to carefully plan deployment and retrieval actions and to properly take into account the different properties of the robots such as their sensor setup, their size and payload, their maximum traveling speed, or the type of terrain they are able to traverse.…”

Section: Introductionmentioning

confidence: 99%

“…The problem of planning and executing actions such as deployment and retrieval in an exploration scenario has previously been approached using manually designed strategies [3,17,18]. Such hand-crafted strategies, however, are specific to a certain type of environment and it is unclear whether they are able to efficiently coordinate large teams of robots.…”

Section: Introductionmentioning

confidence: 99%

Coordinated exploration with marsupial teams of robots using temporal symbolic planning

Wurm

Dornhege

Eyerich

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The problem of autonomously exploring an environment with a team of robots received considerable attention in the past. However, there are relatively few approaches to coordinate teams of robots that are able to deploy and retrieve other robots. Efficiently coordinating the exploration with such marsupial robots requires advanced planning mechanisms that are able to consider symbolic deployment and retrieval actions. In this paper, we propose a novel approach for coordinating the exploration with marsupial robot teams. Our method integrates a temporal symbolic planner that explicitly considers deployment and retrieval actions with a traditional cost-based assignment procedure. Our approach has been implemented and evaluated in several simulated environments and with varying team sizes. The results demonstrate that our proposed method is able to coordinate marsupial teams of robots to efficiently explore unknown environments.

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Marsupial-like mobile robot societies

Cited by 60 publications

References 2 publications

Multi-robot Cooperation in Space: A Survey

Multi-robot Cooperation in Space: A Survey

<title>Use of mission roles as a robotic tasking device</title>

Coordinated exploration with marsupial teams of robots using temporal symbolic planning

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