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ALLIANCE is a software architecture that fa- cilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled subtasks that may have ordering dependencies. ALLIANCE allows teams of robots, each of which possesses a variety

Mobile robot localization is the problem of determining a robot's pose from sensor data. This article presents a family of probabilistic localization algorithms known as Monte Carlo Localization (MCL). MCL algorithms represent a robot's belief by a set of weighted hypotheses (samples

New reactive behaviors that implement formations in multi-robot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors

This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi-tionally considered a high level planning problem, can be effectively distributed between different levels of control, al

This paper describes the Player/Stage software tools applied to multi-robot, distributed-robot and sensor network systems. Player is a robot device server that provides network transparent robot control. Player seeks to constrain controller design as little as possible; it is device independent

. This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from

This paper explores the topic of social robots -- the class of robots that people anthropomorphize in order to interact with them. From the diverse and growing number of applications for such robots, a few distinct modes of interaction are beginning to emerge. We distinguish four such classes

Collision avoidance is an important topic in multi-robot systems. Existing multi-robot pathfinding approaches ignore sideswipe collisions among robots (i.e., only consider the collision which two agents try to occupy the same node during the same time-step) [1, 3, 4], and allow diagonal move

A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, named the vector field histogram(VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses