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David Hershberger
PhD Student

No longer a member of RI.

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I am currently involved in a project to build an architecture for multi-robot coordination in an autonomous construction task. Multiple autonomous robots with differing mechanical and computational abilities will work together to perform a construction task.

architectures, construction, mobile robots, multi-agent systems, space robotics, and visual tracking

• Reliable Autonomous Systems Lab - We are developing reliable, highly autonomous systems (especially mobile robots) that operate in rich, uncertain environments.
• Robot Learning Lab - Pursuing research on robot learning, mobile robotics, multi-robotics, human robot interaction, and basic machine learning.

• Distributed Robot Architectures - The primary objective of this project is to develop fundamental capabilities that enable multiple, distributed, heterogeneous robots to coordinate tasks that cannot be accomplished by the robots individually.
• Inter-Process Communication Package - We are developing a high-level support package for connecting and sending data among processes using TCP / IP sockets.
• Social Robots - We are developing robots with personality.
• Xavier - Perceptual, reasoning and learning abilities in autonomous mobile robots

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• A Layered Architecture for Coordination of Mobile Robots
  R. Simmons, T. Smith, M.B. Dias, D. Goldberg, D. Hershberger, A. Stentz, and R.M. Zlot
  Multi-Robot Systems: From Swarms to Intelligent Automata, Proceedings from the 2002 NRL Workshop on Multi-Robot Systems, Kluwer Academic Publishers, May, 2002. [Abstract]

• Future Directions in Multi-Robot Autonomy and Planetary Surface Construction
  T. Smith, R. Simmons, S. Singh, and D. Hershberger
  Proceedings of the 2001 Space Studies Institute Conference, May, 2001.
  Download: pdf [145 KB], ps.gz [291 KB] copyrighted

• First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly
  R. Simmons, S. Singh, D. Hershberger, J. Ramos, and T. Smith
  Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000.
  Download: pdf [173 KB] copyrighted