Rafael Fierro

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In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting and reconnaissance, to search and rescue, to manipulation tasks, to cooperative localization and mapping, and formation control. Our software framework allows a modular and hierarchical approach to programming deliberative and reactive behaviors in autonomous operation. Formal definitions for sequential composition, hierarchical composition, and parallel composition allow the bottom-up devel- The International Journal of Robotics Research Vol. 21, No. 10--11, October-November 2002, pp. 977-995, 2002 Sage Publications opment of complex software systems. We demonstrate the algorithms and software on an experimental testbed that involves a group of carlike robots, each using a single omnidirectional camera as a sensor without explicit use of odometry.

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Available from: Ben Southall, Aug 12, 2014