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First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly.

Reid G. Simmons, Sanjiv Singh, David Hershberger, Josue Ramos, and Trey Smith. In Proc. Int. Symp. on Experimental Robotics (ISER), 2000.

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Abstract

While many multi-robot systems rely on fortuitous cooperation between agents, some tasks, such as the assembly of large structures, require tighter coordination. We present a general software architecture for coordinating heterogeneous robots that allows for both autonomy of the individual agents as well as explicit coordination. This paper presents recent results with three robots with very different configurations. Working as a team, these robots are able to perform a high-precision docking task that none could achieve individually.

BibTeX Entry

@InProceedings{simmons00:coordination,
  author = 	 {Reid G. Simmons and Sanjiv Singh and David Hershberger and Josue Ramos and Trey Smith},
  title = 	 {First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly},
  booktitle = 	 {Proc. Int. Symp. on Experimental Robotics (ISER)},
  year =	 2000,
}

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