Cooperative Autonomous Mobile Robots

摘要

The primary objective of the work was to develop new capabilities for cooperative autonomous operation of multi-agent autonomous mobile robot systems. Many vital Navy missions require autonomous navigation and decision making in complex, unstructured, and dynamic environments. In this work, we set out to develop software for cooperative autonomy and to test these algorithms on new, low-cost autonomous surface craft (ASC). The ASC were operated in several major ONR experiments, including AUVFest in June 2005 and the FAFOS experiment in July, 2005. Lessons learned from cooperative operation of these platforms can pay dividends for a wide variety of Navy research programs.