Riassunto
In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi robot systems and human-robot interaction. The first two days of the workshop of1ocalizatio~. concentrated on multi-robot control issues, including the topics mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions.
Contenuti
Preface. Part I: Localization, Mapping and Navigation. On the Positional Uncertainty of Multi-Robot Cooperative Localization; I.M. Rekleitis, et al. A Multi-Agent System for Multi-Robot Mapping and Exploration; K. Konolige, et al. Distributed Heterogeneous Sensing for Outdoor Multi-Robot Localization, Mapping, and Path Planning; L.E. Parker. et al. Mission-Relevant Collaborative Observation and Localization; A.W. Stroupe, T. Balch. Deployment and Localization for Mobile Robot Teams; A. Howard, M.J. Mataric. Multiple Autonomous Robots for UXO Clearance, the Basic UXO Gathering System (BUGS) Project; T.N. Nguyen, et al. Part II: Distributed Survelliance. Programming and Controlling the Operations of a Team of Miniature Robots; P.E. Rybski, et al. Autonomous Flying Vehicle Research at the University of Southern California; S. Saripalli, et al. Part III: Manipulation. Distributed Manipulation of Multiple Objects Using Ropes; B. Donald, et al. A Distributed Multi-Robot System for Cooperative Manipulation; A. Das, et al. Part IV: Coordination and Formations. A Layered Architecture for Coordination of Mobile Robots; R. Simmons, et al. Stability Analysis of Decentralized Cooperative Controls; J.T. Feddema, D.A. Schoenwald. Snow White and the 700 Dwarves; B.H. Wilcox. Part V: Sensor and Hardware Issues. GOATS: Multi-platform Sonar Concept for Coastal Mine Countermeasures; H. Schmidt, J.R. Edwards. Design of the UMN Multi-Robot System; A. Drenner, et al. Simulating Self-Organization With the Digital Hormone Model; Wei-Min Shen, Cheng-Ming Chuong. Part VI: Design and Learning. Architecting a Simulation and Development Environment for Multi-Robot Teams; S. Balakirsky, et al. RobotSoccer: A Multi-Robot Challenge; M.M. Veloso. Part VII: Human/Robot Interaction. Human-Robot Interactions: Creating Synergistic Cyber Forces; J.C. Scholtz. Communicating with Teams of Cooperative Robots; D. Perzanowski, et al. Robot as Partner: Vehicle Tele-operation with Collaborative Control; T. Fong, et al. Adaptive Multi-Robot, Multi-Operator Work Systems; A.C. Morris, et al. User Interaction with Multi-Robot Systems; D. Kortenkamp, et al. Human-Robot Interactions in Robot-Assisted Urban Search and Rescue; R. Murphy, J. Casper. Usability Issues for Designing Multi-Robot Missions; R.C. Arkin. Perception-Based Navigation for Mobile Robots; K. Kawamura, et al. Author Index.
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