Multirobot automated indoor floor characterization team

Anderson, Matthew; McKay, Mark; Richardson, Brad

doi:10.1109/robot.1996.506965

Cited by 16 publications

(12 citation statements)

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“…This system employs MACS (Mobile Automated Characterization System) as a mid-sized robot which explores and characterizes the building, deploying a smaller robot, RACS (Reduce Access Characterization System), into rooms and areas where there is limited mobility/access. 4 While the MACS and RACS team offers many benefits over strategies that employ only one system, such deployer approaches do not exploit the benefits of fully distributed systems. Specific benefits of distributed systems with a large number of smaller robots include: !…”

Section: Project Objectivementioning

confidence: 99%

<title>Development and implementation of large-scale micro-robotic forces using formation behaviors</title>

Dudenhoeffer¹,

Bruemmer²,

Anderson³

et al. 2001

SPIE Proceedings

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Micro-robots may soon be available for deployment by the thousands. Consequently, controlling and coordinating a force this large to accomplish a prescribed task is of great interest. This paper describes a flexible architecture for deploying thousands of autonomous robots simultaneously. The robots' behavior is based on a subsumption architecture in which individual behaviors are prioritized with respect to all others. The primary behavior explored in this paper is group formation behavior drawn from the work in social potential fields applications conducted by Reif and Wang 1 , and Dudehoeffer and Jones.2 While many papers have examined the application of social potential fields in a simulation environment, this paper describes the implementation of this behavior in a collective of small robots.

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Section: Project Objectivementioning

confidence: 99%

<title>Development and implementation of large-scale micro-robotic forces using formation behaviors</title>

Dudenhoeffer¹,

Bruemmer²,

Anderson³

et al. 2001

SPIE Proceedings

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“…The marsupial unmanned platform is a multi-robot system composed of a mother robot and one or more child robots that has been studied and applied in some scenarios. Anderson developed a ground-ground marsupial platform MACS for ground information collection [4]. Corke developed a ground-air marsupial unmanned platform for the automatic laying of small sensing devices [5].…”

Section: Introductionmentioning

confidence: 99%

Marine UAV–USV Marsupial Platform: System and Recovery Technic Verification

Zhang

et al. 2020

Applied Sciences

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Heterogeneous unmanned systems consisting of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) have great application potential in marine environments. At present, the fully autonomous recovery of UAVs is a key problem that restricts any significant application of a heterogeneous unmanned system. This paper presents a novel fully autonomous recovery system, covering the entire process of recovery of small fixed-wing UAVs on mobile platforms at sea. We describe methods or solutions for the key problems encountered by the current system, including active modeling of the UAV–USV heterogeneous platform motion model, accurate estimation of the highly dynamic relative motion of the heterogeneous platform, dynamic analysis of the arresting cable system, and compliance control of the manipulator recovery system. Based on these methods, a physical simulation platform for the fully autonomous recovery system, including an actively adjustable arresting cable, manipulator compliance recovery system, and other subsystems, is developed and verified through experiments. The experiments show that the system proposed in this study can achieve full autonomous recovery of a small ship-based fixed-wing UAV with a high success rate in a short period. This system is the foundation for practical applications of UAV–USV heterogeneous unmanned systems in the marine environment.

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“…Anderson et al [12] were the first research group who addressed the marsupial relationship, but did not term it. In this research, an unmanned ground vehicle (UGV) Container was employed to carry a UGV Passenger to explore and map an indoor environment.…”

Section: Introductionmentioning

confidence: 99%

Design of a heterogeneous marsupial robotic system composed of an USV and an UAV

Fan

Wang

et al. 2016

2016 Eighth International Conference on Advanced Computational Intelligence (ICACI)

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This paper provides both the core ideas of a heterogeneous marsupial robotic System and the details of the practical aspects related to its hardware architecture and cooperative system structure. This heterogeneous marsupial robotic system is composed by an unmanned surface vehicle (USV) that acts as a carrier and an unmanned aerial vehicle (UAV) that acts as a passenger, and it is designed for military tasks and other tasks like environmental monitoring, wild life tracking, and search & rescue missions. Through the combination, the cooperative marsupial robots benefit from their heterogeneity by using the superiority of each team member and overcoming their limitations. Moreover, the attitude control simulation model of the UAV is built, and the self-adaptive fuzzy parameter tuning rules for PID flight controller are given, so as to realize the online self-tuning of the controller parameters. Simulation results show that: compared with the conventional PID controller, this attitude control algorithm of fuzzy selfadaptive PID has a better dynamic response performance.

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Multirobot automated indoor floor characterization team

Cited by 16 publications

References 0 publications

<title>Development and implementation of large-scale micro-robotic forces using formation behaviors</title>

<title>Development and implementation of large-scale micro-robotic forces using formation behaviors</title>

Marine UAV–USV Marsupial Platform: System and Recovery Technic Verification

Design of a heterogeneous marsupial robotic system composed of an USV and an UAV

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