Multiple-Agent Surveillance Mission with Non-Stationary Obstacles

摘要

This paper presents the overall control architecture and the work-in-progress towards demonstrating the feasibility of using a team of autonomous robots to conduct a surveillance mission with non-stationary obstacles using an innovative multi-tiered control architecture. The presented control concept involves a central control computer serving as the hierarchical monitor of the overall mission which relays the pertinent information of the new obstacle positions detected by each robot to other robots involved in the mission. The robot’s on-board controllers are being designed to have the intelligence and adaptability to adjust their trajectories.