Closely coupled behaviour in networked robot systems
Baker, D.I. and McKee, G.T. (2007) Closely coupled behaviour in networked robot systems. In: 13th IASTED International Conference on Robotics and Applications/IASTED International Conference on Telematics, Wurzburg, Germany.
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Multiple cooperating robot systems may be required to take up a closely coupled configuration in order to perform a task. An example is extended baseline stereo (EBS), requiring that two robots must establish and maintain for a certain period of time a constrained kinematic relationship to each other. In this paper we report on the development of a networked robotics framework for modular, distributed robot systems that supports the creation of such configurations. The framework incorporates a query mechanism to locate modules distributed across the two robot systems. The work presented in this paper introduces special mechanisms to model the kinematic constraint and its instantiation. The EBS configuration is used as a case study and experimental implementation to demonstrate the approach.
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