Choset, “Development and Deployment of a Line of Sight Virtual Sensor for Heterogeneous Teams

Absnact- For a learn of cooperaring robots, geometry plays a vital role in operalbm Knowledge of line of sight to local obstacles and a#acrnt teammales is critic01 in both the movemenr and planning stages to avoid collisions, maintain formation and Iodize the team. Howevrr, determining gother robots are within the line of sight of one another is diflcult with existing sensorplatforms-especially as the scale of the robot is reduced We describe a method of exploiting collective team information to generate a vidual sensor that provides line of sight determination, greater range and resolution and the abilit, to generalize local sensing. We develop this sensor and apply it to the control of a tightly coupled, resource-limited robot kam called Millibots. Keywords4ompooent; mobile robot teams: sensing; heterogeneous control I