Synopses & Reviews
This Proceedings Volume documents recent cutting-edge developments in multi-robot systems research and is the result of the Second International Workshop on Multi-Robot Systems that was held in March 2003 at the Naval Research Laboratory in Washington, D.C. This Workshop brought together top researchers working in areas relevant to designing teams of autonomous vehicles, including robots and unmanned ground, air, surface, and undersea vehicles. The workshop focused on the challenging issues of team architectures, vehicle learning and adaptation, heterogeneous group control and cooperation, task selection, dynamic autonomy, mixed initiative, and human and robot team interaction. A broad range of applications of this technology are presented in this volume, including UCAVS (Unmanned Combat Air Vehicles), micro-air vehicles, UUVs (Unmanned Underwater Vehicles), UGVs (Unmanned Ground Vehicles), planetary exploration, assembly in space, clean-up, and urban search and rescue. This Proceedings Volume represents the contributions of the top researchers in this field and serves as a valuable tool for professionals in this interdisciplinary field.
Table of Contents
Preface. Part I: Planning and Task Allocation. On Architectural and Decisional Issues for Multi-Robot Cooperation; R. Alami. A Framework for Studying Multi-Robot Task Allocation; B.P. Gerkey, M.J. Matarié. Market-Based Multi-Robot Planning in a Distributed Layered Architecture; D. Goldberg, V. Cicirello, M.B. Dias Reid Simmons, S. Smith, A. Stentz. Collaborative Tasking of Tightly Constrained Multi-Robot Missions; D.C. MacKenzie. Part II: Coordination and Control. Multi-Objective Navigation and Control Using Interval Prograniming; M.R. Benjamin. Cooperative Relative Localization for Mobile Robot Teams: An Ego-Centric Approach; A. Howard, M.J. Mataric, G.S. Sukhatine. Fractional Bandwidth Reacquisition Algorithms for VSW-MCM; B. Cook, D. Marthaler, C. Topaz, A. Bertozzi, M. Kemp. Dynamic Multi-Robot Coordination; D. Vail, M. Veloso. Part III: Sensor and Information Fusion. Information Sharing in Teams of Self-Aware Entities; J. Franke, B. Satterfield, S. Jameson. Realizing Virtual Sensors by Distributed Multi-Level Sensor Fusion; E. Nett, S. Schemmer. Information Fusion and Control for Multiple UAVs; S. Sukkarieh, E. Nettleton, B. Grocholsky, H. Durrant-Whyte. Part IV: Learning. Multistrategy Learning Methods for Multirobot Systems; R.C. Arkin, Y. Endo, B. Lee, D. MacKenzie, E. Martinson. Part V: Self-Reconfigurable Robots. Distributed Locomotion Algorithms for Self-Reconfigurable Robots Operating on Rough Terrain; Z. Butler, D. Rus. Self-Assembly in Space via Self-Reconfigurable Robots; Wei-Min Shen, P. Will, B. Khoshnevis. Part VI: Large-Scale Robot Teams. Optimization of Swarm Robotic Systems via Macroscopic Models; A. Martinoli, K. Easton. CentiBOTS: Large Scale Robot Teams; K. Konolige, C. Ortiz, R. Vincent, A. Agno, M. Eriksen, B. Limketkai, M. Lewis, L. Briesemeister, E. Ruspini, D. Fox, J. Ko, B. Stewart, L. Guibas. The Effect of Heterogeneity in Teams of 100+ Mobile Robots; L.E. Parker. Part VII: Human-Robot Teams. Collaborative Tools for Mixed Teams of Humans and Robots; D.J. Bruemmer, M.C. Walton. Mixed-Initiative Control of Large Human-Robot Teams; C.L. Johnson. Experiments in Human-Robot Teams; C.W. Nielsen, M.A. Goodrich, J.W. Crandall. Impact of Autonomy in Multirobot Systems on Teleoperation Performance; B. Trouvain, H.L. Wolf, F.E. Schneider. Part VIII: Communication Constraint and Networks. Decentralized Motion Planning for Multiple Robots Subject to Sensing and Communication Constraints; G.A.S. Pereira, A.K. Das, V. Kumar, M.F.M. Campos. Exploiting the Interactions Between Robotic Autonomy and Networks; J. Redi, J. Bers. Part IX: Poster Abstracts. Observing Multiple Targets with Multiple Mobile Robots Using Probabilistic Behavior-Based Techniques; T. Balch, A. Stroupe. Dynamic Coverage via Multi-robot Cooperation; M.A. Batalin, G.S. Sukhatme. Emergent Control Surveillance Networks; R.R. Brooks, J. Lamb, M. Pirretti, M. Zhu, S.S. Iyengar. On Dynamic Reconfiguration of Multi-Robot Formations; R. Fierro, A.K. Das. Distributed Multi-Robot Mapping; D. Fox, J. Ko, B. Stewart, K. Konolige, B. Limetkai. An Endogeneous Architecture for Cooperative Sensor Teams; B. Grocholsky, A. Makarenko, H. Durrant-Whyte. Efficient Inference Grounding for Distributed Multi-Robot Teams; A. Khoo, I.D. Horswill. Author Index.