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In this paper, we outline a low cost multi-robot autonomous platform for a broad set of applications including water quality monitoring, flood disaster miti-gation and depth buoy verification. By working cooperatively, fleets of vessels can cover large areas that would otherwise be impractical, time consuming and prohibitively expensive to traverse by a(More)
Low-cost localization solutions for indoor environments have a variety of real-world applications ranging from emergency evacuation to mobility aids for people with disabilities. In this paper, we introduce a methodology for indoor localization using a commercial smart-phone combining dead reckoning and Wifi signal strength fingerprinting. Additionally, we(More)
— This paper presents the design and results of autonomous behaviors for tightly-coupled cooperation in heterogeneous robot teams, specifically for the task of navigation assistance. These cooperative behaviors enable capable, sensor-rich (" leader ") robots to assist in the navigation of sensor-limited (" simple ") robots that have no onboard capabilities(More)
— This paper presents an approach for deploying a team of mobile sensor nodes to form a sensor network in indoor environments. The challenge in this work is that the mobile sensor nodes have no ability for localization or obstacle avoidance. Thus, our approach entails the use of more capable " helper " robots that " herd " the mobile sensor nodes into their(More)
— This paper presents an adaptive causal model method (adaptive CMM) for fault diagnosis and recovery in complex multi-robot teams. We claim that a causal model approach is effective for anticipating and recovering from many types of robot team errors, presenting extensive experimental results to support this claim. To our knowledge, these results show the(More)
Multi-robot systems (MRS) have great promise for revolutionizing the way a variety of important and complex tasks are performed. While the underlying science is advancing quickly, the engineering problems associated with deploying multi-robot team under real world constraints have not been adequately addressed. In this work, we are developing teams of(More)
As we advance the state of technology for robotic systems, there is a need for defining complex real-world challenge problems for the multi-agent/robot community to address. A well-defined challenge problem can motivate researchers to aggressively address and overcome core domain challenges that might otherwise take years to solve. As the focus of(More)
This paper addresses the problem of using a fleet of autonomous watercraft to create models of various water quality parameters in complex environments using intelligent sampling algorithms. Maps depicting the spatial variation of these parameters can help researchers understand how certain ecological processes work and in turn help reduce the negative(More)