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Rapidly evolving sensor, effector and processing technologies, including micromechanical fabrication techniques, will soon make possible the development of very inexpensive autonomous mobile devices with adequate processing but fairly limited sensor capabilities. One goal which has been proposed is to employ large numbers (more than 100) of these simple(More)
The Segway Robotic Mobility Platform TM (RMP) is a new mobile robotic platform based on the self-balancing Segway Human Transporter (HT). The Segway RMP is faster, cheaper, and more agile than existing comparable platforms. It is also rugged, has a small footprint, a zero turning radius, and yet can carry a greater payload. The new geometry of the platform(More)
In two previous papers we explored some of the systems aspects of applying large numbers of inexpensive robots to real world applications. The concept of coverage can help the user of such a system visualize its overall function and performance in mission-relevant terms, and thereby support necessary system command control functions. An important class of(More)
Communications and communications protocols will play an important role in mobile robot systems able to address real world applications. A poorly integrated "stack" of communications protocols, or protocols which are poorly matched to the functional and performance characteristics of the underlying physical communications links, can greatly reduce the(More)
Citation Achtelik, Markus et al. " Stereo vision and laser odometry for autonomous helicopters in GPS-denied indoor environments. " Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. The MIT Faculty has made this article openly available. Please(More)
A system comprising a large number of identical and very inexpensive robotic search vehicles may serve as an effective tool in a variety of MCM operations, providing improved mine detection and clearance capabilities while reducing cost and the physical risk to MCM personnel. Moreover, the many-robot approach to addressing MCM applications becomes(More)
The RiSE robot is a biologically inspired, six legged climbing robot, designed for general mobility in scansorial (vertical walls, horizontal ledges, ground level) environments. It exhibits ground reaction forces that are similar to animal climbers and does not rely on suction, magnets or other surface-dependent specializations to achieve adhesion and shear(More)
The MDARS security robotics program has successfully demonstrated the simultaneous control of multiple robots autonomously navigating within an industrial warehouse environment. This real-world warehouse system installation required adapting a navigational paradigm designed for highly structured environments such as office corridors (with smooth walls and(More)
This paper discusses some communications issues relevant to a system consisting of an arbitrarily large number of simple autonomous robots, from several different perspectives: (a) in the language of traditional communications systems analysis, (b) by analogy with biological systems, and (c) as a problem of intelligent control and data fusion. Emphasis is(More)