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A Hierarchically Structured Collective of Coordinating Mobile Robots Supervised by a Single Human

A Hierarchically Structured Collective of Coordinating Mobile Robots Supervised by a Single Human

Choon Yue Wong, Gerald Seet, Siang Kok Sim, Wee Ching Pang
Copyright: © 2013 |Pages: 24
ISBN13: 9781466626584|ISBN10: 1466626585|EISBN13: 9781466626898
DOI: 10.4018/978-1-4666-2658-4.ch009
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MLA

Wong, Choon Yue, et al. "A Hierarchically Structured Collective of Coordinating Mobile Robots Supervised by a Single Human." Mobile Ad Hoc Robots and Wireless Robotic Systems: Design and Implementation, edited by Raul Aquino Santos, et al., IGI Global, 2013, pp. 162-185. https://doi.org/10.4018/978-1-4666-2658-4.ch009

APA

Wong, C. Y., Seet, G., Sim, S. K., & Pang, W. C. (2013). A Hierarchically Structured Collective of Coordinating Mobile Robots Supervised by a Single Human. In R. Santos, O. Lengerke, & A. Edwards-Block (Eds.), Mobile Ad Hoc Robots and Wireless Robotic Systems: Design and Implementation (pp. 162-185). IGI Global. https://doi.org/10.4018/978-1-4666-2658-4.ch009

Chicago

Wong, Choon Yue, et al. "A Hierarchically Structured Collective of Coordinating Mobile Robots Supervised by a Single Human." In Mobile Ad Hoc Robots and Wireless Robotic Systems: Design and Implementation, edited by Raul Aquino Santos, Omar Lengerke, and Arthur Edwards-Block, 162-185. Hershey, PA: IGI Global, 2013. https://doi.org/10.4018/978-1-4666-2658-4.ch009

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Abstract

Using a Single-Human Multiple-Robot System (SHMRS) to deploy rescue robots in Urban Search and Rescue (USAR) can induce high levels of cognitive workload and poor situation awareness. Yet, the provision of autonomous coordination between robots to alleviate cognitive workload and promote situation awareness must be made with careful management of limited robot computational and communication resources. Therefore, a technique for autonomous coordination using a hierarchically structured collective of robots has been devised to address these concerns. The technique calls for an Apex robot to perform most of the computation required for coordination, allowing Subordinate robots to be simpler computationally and to communicate with only the Apex robot instead of with many robots. This method has been integrated into a physical implementation of the SHMRS. As such, this chapter also presents practical components of the SHMRS including the robots used, the control station, and the graphical user interface.

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