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RI | Research | Projects | DIRA
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Text only version of this site
![[Project image]](/images/projects/coop.jpg) |
Distributed Robot Architectures (DIRA) Heads: Sanjiv Singh and Reid Simmons Contact: Reid Simmons (reids@cs.cmu.edu)
Mailing address:
Associated centers: SRI and FRC For more information, see this project's homepage.
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| Project Description |
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. The basic concept is to enable individual robots to act independently, while still allowing for tight, precise coordination when necessary. Individual robots will be highly autonomous, yet will be able to synchronize their behaviors, negotiate with one another to perform tasks, and "advertise" their capabilities. The main technical challenge of the project is to develop an architectural framework that permits a high degree of autonomy for each individual robot, while providing a coordination structure that enables the group to act as a unified team.
In addition, the project is now working on incorporating a human operator in the system and enabling sliding autonomy throughout the architecture, in order to allow the human to smoothly cooperate with the autonomous agents.
| Personnel [Past Members] |
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Name | Title | Email Address |
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Greg Armstrong | Senior Research Technician, CS | roboman@andrew.cmu.edu |
| Bradley Hamner | Research Programmer | bhamner@andrew.cmu.edu | |
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Brennan Peter Sellner | PhD Student, RI | bsellner@andrew.cmu.edu |
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Reid Simmons | Research Prof/Assoc Dir Educ/PhD Chair, RI/CS | reids@cs.cmu.edu |
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Sanjiv Singh | Associate Research Professor | ssingh@ri.cmu.edu |
| Publications |
Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.