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A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems
A domain-independent taxonomy of MRTA problems is given, and it is shown how many such problems can be viewed as instances of other, well-studied, optimization problems. Expand
The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems
This paper describes the Player/Stage software tools applied to multi-robot, distributed-robot and sensor network systems. Player is a robot device server that provides network transparent robotExpand
Sold!: auction methods for multirobot coordination
The primary contribution of the paper is to show empirically that distributed negotiation mechanisms such as MURDOCH are viable and effective for coordinating physical multirobot systems. Expand
The Office Marathon: Robust navigation in an indoor office environment
This paper describes a navigation system that allowed a robot to complete 26.2 miles of autonomous navigation in a real office environment, including an efficient Voxel-based 3D mapping algorithm that explicitly models unknown space. Expand
Most valuable player: a robot device server for distributed control
Player combines an efficient message protocol with a simple device model that provides transparent network access to a collection of sensors and actuators, often comprising a robot, and is implemented as a multithreaded TCP socket server. Expand
Player 2.0: Toward a Practical Robot Programming Framework
This paper describes recent work on restructuring the Player robot device server into a system that more closely aligns with the idea of a robot framework, and describes the flexibility of the new system. Expand
On multi-robot task allocation
This dissertation describes the underlying software facilities that were developed for experimental use in the study of MRTA, as well as for more general use, and suggests how the same theory can be used in the synthesis of new approaches. Expand
On device abstractions for portable, reusable robot code
This paper proposes that PADI could be a starting point for development of a standard platform for robot interfacing, independent of Player, to enable code portability and re-use, while still providing access to the unique capabilities of individual devices. Expand
Multi-robot task allocation: analyzing the complexity and optimality of key architectures
This work gives a formal, domain-independent, statement of the problem of multi-robot task allocation and shows it to be an instance of another, well-studied, optimization problem. Expand
Programming Robots with ROS: A Practical Introduction to the Robot Operating System
Want to develop novel robot applications, but dont know how to write a mapping or object-recognition system? Youre not alone, but youre certainly not without help. By combining real-world examplesExpand