Animal Science Department


Date of this Version



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


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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.