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This thesis investigates the use of multiple mobile sensors to guide the
motion of a distributed manipulation system. In our system, multiple robots
cooperatively place a large object at a goal in a dynamic, unstructured,
unmapped environment. We take the system developed in [Rus, Kabir, Kotay,
Soutter 1996], which employs a single mobile sensor for navigational tasks,
and extend it to allow the use of multiple mobile sensors. This allows the
system to perform successful manipulations in a larger class of spaces than
was possible in the single scout model. We focus on the development of a
negotiation protocol that enables multiple scouts to cooperatively plan
system motion. This algorithm enhances the previous' system's scalability
and adds greater fault-tolerance. Two alternate algorithms for cooperation:
a modification of negotiation and a bidding protocol, are also discussed.
Finally, an implementation of the negotiation protocol is described and
experimental data produced by the implementation is analyzed.
Senior Honors Thesis. Advisor: Daniela Rus.
Source code available
Bibliographic citation for this report: [plain text] [BIB] [BibTeX] [Refer]
Or copy and paste:
Michael G. Ross, "Multiscouting: Guiding distributed manipulation with multiple mobile sensors." Dartmouth Computer Science Technical Report PCS-TR98-332, June 1998.
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