Vision-based effective dispersion of miniature robots by using local sensing

Hyeun Jeong Min; Nikolaos Papanikolopoulos

doi:10.1117/12.818522

30 April 2009 Vision-based effective dispersion of miniature robots by using local sensing

Hyeun Jeong Min, Nikolaos Papanikolopoulos

Proceedings Volume 7332, Unmanned Systems Technology XI; 73321V (2009) https://doi.org/10.1117/12.818522
Event: SPIE Defense, Security, and Sensing, 2009, Orlando, Florida, United States

Abstract

This paper introduces a vision-based algorithm for effectively dispersing multiple robots to accomplish search or surveillance missions by using local sensing information. A marsupial system can deliver several small robots, and small robots are useful for strategically placing themselves in areas of interest. The issue in this marsupial system approach is how to effectively deploy multiple robots to cover the whole task area. To accomplish this goal a marsupial system equipped with multiple miniature robots first drives into the center of the task area, and unloads them in order. Several experimental results will be presented from using the Loper, Adelopod, Saddlepack, and Explorer robotic platforms developed at the University of Minnesota.

Citation Download Citation

Hyeun Jeong Min and Nikolaos Papanikolopoulos "Vision-based effective dispersion of miniature robots by using local sensing", Proc. SPIE 7332, Unmanned Systems Technology XI, 73321V (30 April 2009); https://doi.org/10.1117/12.818522

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