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Designing the HRTeam Framework: Lessons Learned from a Rough-and-Ready Human/Multi-Robot Team

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Advanced Agent Technology (AAMAS 2011)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7068))

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Abstract

In this workshop paper, we share the design and on-going implementation of our HRTeam framework, which is constructed to support multiple robots working with a human operator in a dynamic environment. The team is comprised of one human plus a heterogeneous set of inexpensive, limited-function robots. Although each individual robot has restricted mobility and sensing capabilities, together the team members constitute a multi-function, multi-robot facility. We describe low-level system architecture details and explain how we have integrated a popular robotic control and simulation environment into our framework to support application of multi-agent techniques in a hardware-based environment. We highlight lessons learned regarding the integration of multiple varying robot platforms into our system, from both hardware and software perspectives. Our aim is to generate discussion amongst multi-robot researchers concerning issues that are of particular interest and present particular difficulties to the multi-robot systems community.

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Authors and Affiliations

  1. Brooklyn College, The City University of New York, USA

    Elizabeth Sklar, A. Tuna Ozgelen, J. Pablo Munoz, Mark Manashirov & Simon Parsons

  2. City College, The City University of New York, USA

    Joel Gonzalez

  3. Hunter College, The City University of New York, USA

    Susan L. Epstein

  4. The Graduate Center, The City University of New York, USA

    Elizabeth Sklar, A. Tuna Ozgelen, Susan L. Epstein & Simon Parsons

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  1. Elizabeth Sklar
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Editors and Affiliations

  1. Technische Universiteit, Sectie Filosofie, Postbus 5015, 2600, Delft, GA, The Netherlands

    Francien Dechesne

  2. Department of Social Informatics, Kyoto University, Yoshida-Honmachi, 606-8501, Sakyo-ku, Kyoto, Japan

    Hiromitsu Hattori

  3. Department of Software Technology, Technische Universiteit, Mekelweg 4, 2628, Delft, CD, The Netherlands

    Adriaan ter Mors

  4. Departamento de Sistemas Informáticos y Computación, Universidad Politécnica de Valencia, Camino de Vera s/n, 40622, Valencia, Spain

    Jose Miguel Such

  5. Department of Computer Science, Linnaeus University, 351 95, Växjö, Sweden

    Danny Weyns

  6. University of Utrecht, PO Box 80.089, 3508 TB, Utrecht, the Netherlands

    Frank Dignum

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Sklar, E. et al. (2012). Designing the HRTeam Framework: Lessons Learned from a Rough-and-Ready Human/Multi-Robot Team. In: Dechesne, F., Hattori, H., ter Mors, A., Such, J.M., Weyns, D., Dignum, F. (eds) Advanced Agent Technology. AAMAS 2011. Lecture Notes in Computer Science(), vol 7068. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27216-5_15

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  • DOI: https://doi.org/10.1007/978-3-642-27216-5_15

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