Cooperative control of mobile robots for target search

Umit Y. Ogras, Oguz H. Dagci, Umit Ozguner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

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 languageEnglish (US)
Title of host publicationProceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
Pages123-128
Number of pages6
StatePublished - Dec 1 2004
Externally publishedYes
EventProceedings of the IEEE International Conference on Mechatronics 2004, ICM'04 - Istanbul, Turkey
Duration: Jun 3 2004Jun 5 2004

Publication series

NameProceedings of the IEEE International Conference on Mechatronics 2004, ICM'04

Other

OtherProceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
CountryTurkey
CityIstanbul
Period6/3/046/5/04

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Ogras, U. Y., Dagci, O. H., & Ozguner, U. (2004). Cooperative control of mobile robots for target search. In Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04 (pp. 123-128). (Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04).