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Singh, Amarjeet; Stealey, Michael; Chen, Victor; Kaiser, William J.; Batalin, Maxim; Lam, Yeung; Zhang, Bin; Dhariwal, Amit; Öberg, Carl; Pereira, Arvind; Sukhatme, Gaurav S.; Stauffer, Beth; Moorthi, Stefanie; Caron, Dave; Hansen, Mark

doi:10.1002/rob.v24:11/12

Cited by 13 publications

(2 citation statements)

References 35 publications

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“…With the TRESSA 3 system, Huntsberger et al [19] employ a team of three rovers to explore hard-to-access terrain. The system comprises a Cliff Bot that is tethered down a slope by two so called Tether Bots.…”

Section: Introductionmentioning

confidence: 99%

LUNARES: lunar crater exploration with heterogeneous multi robot systems

Cordes

Ahrns²,

Bartsch

et al. 2010

Intel Serv Robotics

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The LUNARES (Lunar Crater Exploration Scenario) project emulates the retrieval of a scientific sample from within a permanently shadowed lunar crater by means of a heterogeneous robotic system. For the accomplished earth demonstration scenario, the Shakelton crater at the lunar south pole is taken as reference. In the areas of permanent darkness within this crater, samples of scientific interest are expected. For accomplishment of such kind of mission, an approach of a heterogeneous robotic team consisting of a wheeled rover, a legged scout as well as a robotic arm mounted on the landing unit was chosen. All robots act as a team to reach the mission goal. To prove the feasibility of the chosen approach, an artificial lunar crater environment has been established to test and demonstrate the capabilities of the robotic systems. Figure 1 depicts the systems in the artificial crater environment. For LUNARES, preexisting robots were used and modified were needed in order to integrate all subsystems into a common system control. A ground control station has been developed considering conditions of a real mission, requiring information of autonomous task execution and remote controlled operations to be displayed for human operators. The project successfully finished at the end of 2009. This paper reviews the achievements and lessons learned during the project.

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Section: Introductionmentioning

confidence: 99%

LUNARES: lunar crater exploration with heterogeneous multi robot systems

Cordes

Ahrns²,

Bartsch

et al. 2010

Intel Serv Robotics

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show abstract

“…Coordination of robots through task allocation is motivated by parallelization of workload and robustness to partial failures [1]. Task subdivision is also motivated by the heterogeneity in robot teams [2], where the assignment of subtasks is dependent on robot abilities. Some of the existing strategies for task allocation consider the tasks as single atomic units [3], [4], or as a hierarchy of such units [5].…”

Section: Introductionmentioning

confidence: 99%

Fair subdivision of multi-robot tasks

Higuera

Dudek

2013

2013 IEEE International Conference on Robotics and Automation

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We study the problem of distributing a single global task between a group of heterogeneous robots. We view this problem as a fair division game. In this setting, every robot defines a preference function over parts of the task according to its sensing and motion capabilities. These preferences are described by density functions over the task. With such interpretation, we want to find an allocation of the global task that maximizes the probability of task completion. We first formulate the task distribution problem as a fair subdivision problem and provide a centralized algorithm to compute the allocations for each robot. We provide a complexity analysis and computational results of the algorithm.

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Decision-theoretic human-robot communication

Kaupp

Makarenko

2008

Proceedings of the 3rd ACM/IEEE International Conference on Human Robot Interaction

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Humans and robots need to exchange information if the objective is to achieve a task cooperatively. Two questions are considered in this paper: what type of information to communicate, and how to cope with the limited resources of human operators. Decision-theoretic human-robot communication can provide answers to both questions: the type of information is determined by the underlying probabilistic representation, and value-of-information theory helps decide when it is appropriate to query operators for information. A robot navigation task is used to evaluate the system by comparing it to conventional teleoperation. The results of a user study show that the developed system is superior with respect to performance, operator workload, and usability.

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Cited by 13 publications

References 35 publications

LUNARES: lunar crater exploration with heterogeneous multi robot systems

LUNARES: lunar crater exploration with heterogeneous multi robot systems

Fair subdivision of multi-robot tasks

Decision-theoretic human-robot communication

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