Multi-Robot Coordination For Battlefield Strategies

Abstract

This paper presents an architecture supporting cooperation for multiple mobile robots that is jlezible enough to support different forms of control (local, distributed, and centralized). We argue that it is possible to envision cooperation between robots for simple battlefield strategies (tandem, movement in formation, and convoying) using this. architecture. The cooperation involves few vehicles and is based on a distributed control organization. Several ezamples are discussed and one of them has been fully implemented on two indoor mobile robots. Finally, extensions such as man-machine interface and a mission-assistance system are presented.