Multiple robot command and control architecture development
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Authors
Zachary, Uriah E.
Subjects
Autonomous agents
Multiple robots
Cooperative behavior
Dynamic addressing
Multiple robots
Cooperative behavior
Dynamic addressing
Advisors
Yun, Xiaoping
Date of Issue
1998-12-01
Date
December 1998
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The military use of autonomous vehicles or robots will increase as national security planners seek to maintain strategic deterrence and preserve U.S. interest in spite of reduced resources. Cooperative group behavior among large numbers of robots will be required to complete various missions. Communication schemes for command, control, and coordination of multiple robots is one of the required capabilities. This thesis evaluates the Simplified Lisp- like Expression Evaluation Paradigm (SLEEP) for implementation as a development tool and a communications scheme: SLEEP enables the dynamic group formation of robots that are best qualified for a task. The SLEEP concept is tested and evaluated using a testbed built from Nomadic SCOUT mobile robots and a socket interface. Results from simulation and physical experiments validate the effectiveness of SLEEP for multiple robot coordination.
Type
Thesis
Description
Series/Report No
Department
Department of Electrical and Computer Engineering
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funding
Format
xii, 101 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.