Development and deployment of a line of sight virtual sensor for heterogeneous teams

Robert Grabowski, Pradeep Khosla, and Howie Choset
Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004, pp. 3024 - 3029.


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Abstract
For a team of cooperating robots, geometry plays a vital role in operation. Knowledge of line of sight to local obstacles and adjacent teammates is critical in both the movement and planning stages to avoid collisions, maintain formation and localize the team. However, determining if other robots are within the line of sight of one another is difficult with existing sensor platforms - especially as the scale of the robot is reduced. We describe a method of exploiting collective team information to generate a virtual sensor that provides line of sight determination, greater range and resolution and the ability to generalize local sensing. We develop this sensor and apply it to the control of a tightly coupled, resource-limited robot team called Millibots.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and National Robotics Engineering Center
Associated Lab(s) / Group(s): Advanced Mechatronics Lab
Associated Project(s): Millibots
Number of pages: 6

Text Reference
Robert Grabowski, Pradeep Khosla, and Howie Choset, "Development and deployment of a line of sight virtual sensor for heterogeneous teams," Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04), May, 2004, pp. 3024 - 3029.

BibTeX Reference
@inproceedings{Grabowski_2004_5664,
   author = "Robert Grabowski and Pradeep Khosla and Howie Choset",
   title = "Development and deployment of a line of sight virtual sensor for heterogeneous teams",
   booktitle = "Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA '04)",
   pages = "3024 - 3029",
   month = "May",
   year = "2004",
   volume = "3",
}