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Experiments |
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| We have just finished the final experiment January 20th in at Fort A.P. Hill . As soon as we have the evaluation data from the Governement team, we will publish them. We already have prelimenary data and they are (of course) really good. |
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| Schedule |
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| There will be 3 demonstrations in this project:
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Experiment Description |
Date |
| Experiment I |
25 robots |
Done |
| Experiment II |
50 robots |
Done |
| Experiment III |
100 robots |
Done |
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| Scenario |
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In the scenario, the Centibots are deployed as an advanced surveillance team for
urban missions. A first set of mapping capable Centibots would survey an area of interest: build
and share a distributed map as well as highlight hazards, humans, and hiding places. They would
then combine with a second wave of tracking robots that deploy in an optimal way into the area,
configuring themselves to effectively sense intruders and share the information among themselves
and a command center. As a large team, the Centibots could reconnoiter a set of buildings faster,
more reliably, and more comprehensively than an individual Centibot or small set of Centibots. For
example, the team can dynamically form sub teams to perform tasks that cannot be done by individual
robots. Examples of such tasks might be to measure the range to a distant object, or to use other
robots as markers in the building for localization or communication relays. In addition, the team
can automatically reconfigure itself to handle contingencies such as disabled Centibots or changing
lighting conditions.
The robot teams will cooperatively perform tasks with minimal supervision in dynamic environments.
Our major contribution will be a distributed robot architecture in which collective behavior is
uniquely adaptive, fault tolerant, and capable, incorporating the
following innovative elements. |
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