Title :
Application of the Distributed Field Robot Architecture to a Simulated Demining Task
Author :
Long, Matt ; Gage, Aaron ; Murphy, Robin ; Valavanis, Kimon
Author_Institution :
Center for Robot-Assisted Search and Rescue University of South Florida Tampa, Florida
Abstract :
As mobile robot teams become more complex, it is necessary to develop a control architecture to manage the resources present in the team. The Distributed Field Robot Architecture (DFRA) is a distributed, object-oriented implementation of the SFX hybrid robot architecture that allows for dynamic discovery and acquisition of robot resources and the seamless integration of humans and artificial agents in the robot team. This paper introduces the DFRA and details its application to a high-fidelity demining scenario using a heterogeneous team of ground and aerial robots.
Keywords :
demining; distributed robot architectures; heterogeneous agents; recruitment; Computer architecture; Control systems; Humans; Land vehicles; Mobile robots; Object oriented modeling; Recruitment; Resource management; Robot sensing systems; Unmanned aerial vehicles; demining; distributed robot architectures; heterogeneous agents; recruitment;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570602
