Operations Research, Systems Engineering and Industrial Engineering Commons^™

Multi-Robot System Control Architecture (Mrsca) For Agricultural Production, Santosh Pitla, Joe D. Luck, Scott A. Shearer

Department of Biological Systems Engineering: Conference Presentations and White Papers

Coordinating multiple autonomous robots for achieving an assigned collective task presents a complex engineering challenge. In this paper multi robot system control architecture (MRSCA) for the coordination of multiple agricultural robots is developed. The two important aspects of MRSCA; coordination strategy and inter-robot communication were discussed with typical agricultural tasks as examples. Classification of MRS into homogeneous and heterogeneous robots was done to identify appropriate form of cooperative behavior and inter-robot communication. The framework developed, proposes that inter-robot communication is not always required for a MRS. Three types of cooperative behaviors; No-cooperation, modest cooperation and absolute cooperation for a MRS …