NDLI: Designing the HRTeam framework: lessons learned from a rough-and-ready human/multi-robot team

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Designing the HRTeam framework: lessons learned from a rough-and-ready human/multi-robot team

Content Provider	ACM Digital Library
Author	Gonzalez, Joel Sklar, Elizabeth Ozgelen, A. Tuna Epstein, Susan L. Parsons, Simon Munoz, J. Pablo Manashirov, Mark
Abstract	In this workshop paper, we share the design and on-going implementation of our HRTeam framework, which is constructed to support multiple robots working with a human operator in a dynamic environment. The team is comprised of one human plus a heterogeneous set of inexpensive, limited-function robots. Although each individual robot has restricted mobility and sensing capabilities, together the team members constitute a multi-function, multi-robot facility. We describe low-level system architecture details and explain how we have integrated a popular robotic control and simulation environment into our framework to support application of multi-agent techniques in a hardware-based environment. We highlight lessons learned regarding the integration of multiple varying robot platforms into our system, from both hardware and software perspectives. Our aim is to generate discussion amongst multi-robot researchers concerning issues that are of particular interest and present particular difficulties to the multi-robot systems community.
Starting Page	232
Ending Page	251
Page Count	20
ISBN	9783642272158
ISSN	03029743
DOI	10.1007/978-3-642-27216-5_15
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2011-05-02
Publisher Place	Berlin, Heidelberg
Access Restriction	Subscribed
Content Type	Text
Resource Type	Article
Subject	Theoretical Computer Science Computer Science

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Designing the HRTeam Framework: Lessons Learned from a Rough-and-Ready Human/Multi-Robot Team (2011)

Designing the HRTeam Framework: Lessons Learned from a Rough-and-Ready Human/Multi-Robot Team (2011)

Designing the HRTeam Framework: Lessons Learned from a Rough-and-Ready Human/Multi-Robot Team (2011)

Designing the HRTeam Framework: Lessons Learned from a Roughand-Ready Human/Multi-Robot Team (2011)

Designing the HRTeam Framework: Lessons Learned from a Roughand-Ready Human/Multi-Robot Team (2011)

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