Real-World Testing of a Multi-Robot Team

Paul Scerri, Prasanna Velagapudi, Balajee Kannan, Abhinav Valada, Christopher Tomaszewski, Adrian Scerri, Kumar Shaurya Shankar, Luis Lorenzo Bill-Clark and George A. Kantor
Workshop Paper, Autonomous Robots and Multi- robot Systems workshop (ARMS 2012, at AAMAS 2012), June, 2012

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Multi-robot systems (MRS) have great promise for revolu-tionizing the way a variety of important and complex tasks are per-formed. While the underlying science is advancing quickly, the engi-neering problems associated with deploying multi-robot team under real world constraints have not been adequately addressed. In this work, we are developing teams of Cooperative Robotic Watercraft (CRW) for crit-ical applications including ood response, water monitoring and security. This paper details the steps in the development and deployment of our low cost, robust CRW system, including design considerations, system description, user interface and subsequent eld testing results. We took the watercraft into real environments and ran them through the types of exercises they will perform in real deployments, to better understand the full range of issues involved in creating and deploying real multi-robot systems. We report eld testing results from three unique and di erent environments: four days of testing in an irrigation pond, six weeks in the Philippines, including after a typhoon and several hours of testing in a sh farm; resulting in more than 100 boat hours in the water and hundreds of thousands of data points. By the end, the process and the resultant boats were e ective and robust, and could be controlled by one non-computer science undergraduate student and local Filipinos with no formal education.

author = {Paul Scerri and Prasanna Velagapudi and Balajee Kannan and Abhinav Valada and Christopher Tomaszewski and Adrian Scerri and Kumar Shaurya Shankar and Luis Lorenzo Bill-Clark and George A. Kantor},
title = {Real-World Testing of a Multi-Robot Team},
booktitle = {Autonomous Robots and Multi- robot Systems workshop (ARMS 2012, at AAMAS 2012)},
year = {2012},
month = {June},
keywords = {Multi-robot systems, Autonomous surface vehicle, Human robot/agent interaction, Flood disaster mitigation, Autonomous sampling},
} 2019-06-27T16:41:35-04:00