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2010
J. Kiener, O. von Stryk
Towards Cooperation of Heterogeneous, Autonomous Robots: A Case Study of Humanoid and Wheeled Robots
In: Robotics and Autonomous Systems, pp. to appear, 2010
Abstract
In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.
@ARTICLE{2010:RAS-KienervonStryk,
author = {J. Kiener and O. von Stryk},
title = {Towards Cooperation of Heterogeneous, Autonomous Robots: A Case Study of Humanoid and Wheeled Robots},
journal = {Robotics and Autonomous Systems},
year = {2010},
pages = {to appear},
keywords = {Heterogeneous multi-robot team; autonomous humanoid robot; task distribution and allocation; behavior control; robot middleware; robot simulator},
abstract = {In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.},
}
Abdelmajid Khelil, Christian Reinl, Faisal Karim Shaikh, Azad Ali, Neeraj Suri
Delay-Tolerant Monitoring of Mobility-Assisted Wireless Sensor Networks
In: Delay Tolerant Networks: Protocols and Applications, pp. ---, Auerbach Publications, CRC Press, Taylor & Francis Group ACCEPTED FOR PUBLICATION, 2010
@INBOOK{Khelil_etal_Reinl_2009,
author = {Abdelmajid Khelil and Christian Reinl and Faisal Karim Shaikh and Azad Ali and Neeraj Suri },
title = {Delay-Tolerant Monitoring of Mobility-Assisted Wireless Sensor Networks},
year = {2010},
pages = {---},
publisher = {Auerbach Publications, CRC Press, Taylor & Francis Group ACCEPTED FOR PUBLICATION},
editor = {Athanasios Vasilakos, Yan Zhang, Thrasyvoulos Spyropoulos},
booktitle = {Delay Tolerant Networks: Protocols and Applications},
}
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