Control of the Fetch team of robots

Polly K. Pook; Sarah J. Finney; Kim Barrett; George Whittinghill

doi:10.1117/12.335707

8 January 1999 Control of the Fetch team of robots

Polly K. Pook, Sarah J. Finney, Kim Barrett, George Whittinghill

Proceedings Volume 3525, Mobile Robots XIII and Intelligent Transportation Systems; (1999) https://doi.org/10.1117/12.335707
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

Fetch 2 is a team of four small autonomous robots that are under development for the purpose of 'pickup and carry away' unexploded ordnance removal. Individually or as a team, the robots can be tasked by a remote operator to locally search a list of specific coordinates or to perform a full coverage sweep of the terrain. The control strategy is one of supervised autonomy: the robots operate autonomously but support and submit to a 'human in the loop'. The robots perform autonomous behavioral control within a subsumptive framework. A separate operator control unit coordinates the robots to perform the remediation operation efficiently and with minimal inter-robot interference. The platform will provide a unique testbed to address such issues as cooperation and coordination of a team of robots performing a collaborative mission. One control mechanisms of particular interest is the use of 'virtual sensors' to allow external guidance from other robots, a global map, or a human operator to be transparently incorporated into by each robot.

Citation Download Citation

Polly K. Pook, Sarah J. Finney, Kim Barrett, and George Whittinghill "Control of the Fetch team of robots", Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); https://doi.org/10.1117/12.335707

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