Abstract
Multi-agent teams have the potential to accomplish some goals more efficiently than single agent systems. The success of the team depends critically on the ability of the agents to coordinate their operations. For this reason, the presence of a robust and reliable control architecture and a cooperation framework is as important as the design of individual agents. In this paper, we present a hierarchical control architecture that provides a methodology to control individual robots and to coordinate the operations of multiple robots. Furthermore, we introduce a multi-robot wireless test bed constructed based on this framework. The effectiveness of the frame-work is demonstrated by considering an optimal search problem. It is observed that the proposed architecture provides a useful framework to design cooperative control strategies.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04 |
| Pages | 123-128 |
| Number of pages | 6 |
| State | Published - 2004 |
| Externally published | Yes |
| Event | Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04 - Istanbul, Turkey Duration: Jun 3 2004 → Jun 5 2004 |
Other
| Other | Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04 |
|---|---|
| Country | Turkey |
| City | Istanbul |
| Period | 6/3/04 → 6/5/04 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Cooperative control of mobile robots for target search. / Ogras, Umit; Dagci, Oguz H.; Ozguner, Umit.
Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04. 2004. p. 123-128.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Cooperative control of mobile robots for target search
AU - Ogras, Umit
AU - Dagci, Oguz H.
AU - Ozguner, Umit
PY - 2004
Y1 - 2004
N2 - Multi-agent teams have the potential to accomplish some goals more efficiently than single agent systems. The success of the team depends critically on the ability of the agents to coordinate their operations. For this reason, the presence of a robust and reliable control architecture and a cooperation framework is as important as the design of individual agents. In this paper, we present a hierarchical control architecture that provides a methodology to control individual robots and to coordinate the operations of multiple robots. Furthermore, we introduce a multi-robot wireless test bed constructed based on this framework. The effectiveness of the frame-work is demonstrated by considering an optimal search problem. It is observed that the proposed architecture provides a useful framework to design cooperative control strategies.
AB - Multi-agent teams have the potential to accomplish some goals more efficiently than single agent systems. The success of the team depends critically on the ability of the agents to coordinate their operations. For this reason, the presence of a robust and reliable control architecture and a cooperation framework is as important as the design of individual agents. In this paper, we present a hierarchical control architecture that provides a methodology to control individual robots and to coordinate the operations of multiple robots. Furthermore, we introduce a multi-robot wireless test bed constructed based on this framework. The effectiveness of the frame-work is demonstrated by considering an optimal search problem. It is observed that the proposed architecture provides a useful framework to design cooperative control strategies.
UR - http://www.scopus.com/inward/record.url?scp=13944261946&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=13944261946&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:13944261946
SN - 0780385993
SN - 9780780385993
SP - 123
EP - 128
BT - Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
ER -