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Towards a robust feedback system for coordinating a hierarchical multi - robot system

Chand, Praneel and Carnegie, D.A. (2014) Towards a robust feedback system for coordinating a hierarchical multi - robot system. Robotics and Autonomous Systems, 62 (2). pp. 91-107. ISSN 0921-8890

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Abstract

Restricting the usage of a team of robots to a few expert human users can be disadvantageous. In applications such as exploration, it may not always be possible for human experts to travel to sites, resulting in negative consequences. It is preferable to have a robotic system that is capable of coordinating itself based on inputs provided by non-expert human users. Hence, this paper presents the development of a robust feedback system for coordinating a hierarchical team of robots where inputs are specified by non-expert human users. Experiments with a multi-robot mapping and exploration task show that the feedback system successfully detects and corrects three types of failures. These are poor performance, partial failure and complete failure. Moreover, the system is robust to threshold value variation and monitor time interval variation within the tested limits.

Item Type: Journal Article
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > Robotics and Automation
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Engineering and Physics
Depositing User: Praneel Chand
Date Deposited: 11 Feb 2014 14:20
Last Modified: 05 May 2016 09:15
URI: http://repository.usp.ac.fj/id/eprint/7133
UNSPECIFIED

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