Multi-Robot System Control Architecture (MRSCA) for Agricultural Production

Authors

Santosh Pitla, University of Nebraska-LincolnFollow
Joe D. Luck, University of Nebraska-LincolnFollow
Scott A. Shearer, University of KentuckyFollow

Date of this Version

2010

Citation

Written for presentation at the 2010 ASABE Annual International Meeting Sponsored by ASABE David L. Lawrence Convention Center Pittsburgh, Pennsylvania June 20 – June 23, 2010

Comments

This item has been relocated to:

https://digitalcommons.unl.edu/biosysengpres/64

Abstract

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 were devised for accomplishing a variety of coordinated operations in agricultural production.