Richard T. Vaughan

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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 robot control. Player seeks to constrain controller design as little as possible; it is device independent, non-locking and languageand style-neutral. Stage is a(More)
Successful distributed sensing and control require data to flow effectively between sensors, processors and actuators on single robots, in groups and across the Internet. We propose a mechanism for achieving this flow that we have found to be powerful and easy to use; we call it Player. Player combines an efficient message protocol with a simple device(More)
We seek to make robot programming more efficient by developing a standard abstract interface for robot hardware, based on familiar techniques from operating systems and network engineering. This paper describes the application of three well known abstractions, the character device model, the interface/driver model, and the client/server model to this(More)
This paper extends and improves upon our previous work on the use of stereotypical aggressive display behavior to reduce interference in robot teams, and thus improve their overall efficiency. We examine a team of robots with no centralized control performing a transportation task in which robots frequently interfere with each other. The robots must work in(More)
ABSTRACT We demonstrate that a simulated group of robots an ooperate to robustly transport resour e between two areas in an unknown environment using an algorithm inspired by the trail following of ants and the waggle dan e of honey bees. Rather than dire tly marking their environment, the robots announ e their su essful paths through a ommon lo alization(More)
We consider the problem of finding an energy-efficient route for a service robot to rendezvous with every member of a heterogeneous team of mobile worker robots. We analyze the general and special cases of the problem, finding it to be at least as hard as the travelling salesman problem. Decomposing the problem into two components: (i) an ordering of robot(More)
We present a multimodal system for creating, modifying and commanding groups of robots from a population. Extending our previous work on selecting an individual robot from a population by face-engagement, we show that we can dynamically create groups of a desired number of robots by speaking the number we desire, e.g. “You three”, and looking at the robots(More)
We present a novel real-time computer vision-based system for facilitating interactions between a single human and a multi-robot system: a user first selects an individual robot from a group of robots, by simply looking at it, and then commands the selected robot with a motion-based gesture. Robots estimate which robot the user is looking at by performing a(More)
The Robot Sheepdog Project has developed a mobile robot that gathers a ock of ducks and manoeuvres them safely to a speci ed goal position. This is the rst example of a robot system that exploits and controls an animal's behaviour to achieve a useful task. A potentialeld model of ocking behaviour was constructed and used to investigate methods for(More)