Development of CAMPOUT and its further applications to planetary rover operations: a multirobot control architecture

Paolo Pirjanian; Terrance L. Huntsberger; Paul S. Schenker

doi:10.1117/12.444151

4 October 2001 Development of CAMPOUT and its further applications to planetary rover operations: a multirobot control architecture

Paolo Pirjanian, Terrance L. Huntsberger, Paul S. Schenker

Author Affiliations +

Proceedings Volume 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV; (2001) https://doi.org/10.1117/12.444151
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

In this paper, we describe an architecture for the development of autonomy software for multi-robot distributed control and collective estimation. CAMPOUT, the Control Architecture for Multi-Robot Planetary OUTposts, provides communication facilities for sharing of state information across robots and it uses a behavior network for representation and execution of group activities as well as the activities of a single robot. In our research, we have shown that CAMPOUT provides a level of abstraction that enables us to develop multi-robot software in a manner much similar to what we use for single robot software development. We showcase the main architectural components by describing two multi-robot tasks for planetary construction and collective cliff-descent. For both tasks, we show how behavior networks can be used to describe group activities and how publish/subscribe and other communication mechanisms can be used to share state information across multiple robots.

Citation Download Citation

Paolo Pirjanian, Terrance L. Huntsberger, and Paul S. Schenker "Development of CAMPOUT and its further applications to planetary rover operations: a multirobot control architecture", Proc. SPIE 4571, Sensor Fusion and Decentralized Control in Robotic Systems IV, (4 October 2001); https://doi.org/10.1117/12.444151

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