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ROBOT WORK CREW (RWC)
Site construction operations by autonomous robotic systems are essential for a sustained robotic presence
and human habitation on Mars. We have developed a software/hardware framework for cooperating multiple
robots performing such tightly coordinated tasks.
 In Depth: RWC
COORDINATED OBJECT TRANSPORTATION
In this portion of the research, we focus on tightly coupled coordination of
two technology prototype Mars rovers transporting a long payload. We have developed practical
decentralized and coordinated compliance algorithms that effectively addresses compliant control
for closely coupled multiple mobile robots.
In Depth: TRANSPORT
COORDINATED OBJECT GRASPING & HOISTING
In this portion of the research, we focus on tightly coupled
grasping and hoisting of an extended payload container by two technology
prototype Mars rovers. We have developed an adaptive grasping algorithm to
ensure a tight grip on the container and a tightly coupled, decentralized
hoisting algorithm for an integrated approach to manipulation of extended
containers by multiple robots.
In Depth: GRASPINGControl Architecture for Multi-robot Planetary Outposts (CAMPOUT) CAMPOUT is a distributed control architecture based on a multi-agent or behavior-based methodology, wherein higher-level functionality is composed by coordination of more basic behaviors under the downward task decomposition of a multi-agent planner . CAMPOUT provides the infrastructure, tools, and guidelines that consolidate a number of diverse techniques to allow the efficient use and integration of different components for meaningful interaction and operation. In Depth: CAMPOUT |
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| Site Maintained by Ashitey Trebi-Ollennu | Last Updated 10/30/2001 |