American Studies Commons^™

Creating A Distributed Field Robot Architecture For Multiple Robots, Matthew T. Long

USF Tampa Graduate Theses and Dissertations

This thesis describes the design and implementation of a distributed robot architecture, Distributed Field Robot Architecture. The approach taken in this thesis is threefold. First, the distributed architecture builds on existing hybrid deliberative/reactive architectures used for individual robots rather than creating a distributed architecture that requires re-engineering of existing robots. Second, the distributed layer of the architecture incorporates concepts from artificial intelligence and software agents. Third, the architecture is designed around Suns Jini middleware layer, rather than creating a middleware layer from scratch or attempting to adapt a software agent architecture. This thesis makes three primary contributions, both theoretical and …

Multi-Robot Task Allocation Using Affect, Aaron Gage

USF Tampa Graduate Theses and Dissertations

Mobile robots are being used for an increasing array of tasks, from military reconnaissance to planetary exploration to urban search and rescue. As robots are deployed in increasingly complex domains, teams are called upon to perform tasks that exceed the capabilities of any particular robot. Thus, it becomes necessary for robots to cooperate, such that one robot can recruit another to jointly perform a task. Though techniques exist to allocate robots to tasks, either the communication overhead that these techniques require prevents them from scaling up to large teams, or assumptions are made that limit them to simple domains. This …

Analysis Of How Mobile Robots Fail In The Field, Jennifer Carlson

USF Tampa Graduate Theses and Dissertations

The considerable risk to human life associated with modern military operations in urban terrain (MOUT) and urban search and rescue (USAR) has led professionals in these domains to explore the use of robots to improve safety. Recent studies on mobile robot use in the field have shown a noticeable lack of reliability in real field conditions. Improving mobile robot reliability for applications such as USAR and MOUT requires an understanding of how mobile robots fail in field environments.

This paper provides a detailed investigation of how ground-based mobile robots fail in the field. Forty-four representative examples of failures from 13 …