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Distributed Planning and Control for Teams of Cooperating Mobile Robots
ORNL-Caterpillar CRADA 98-0528
Final Report
Abstract
This CRADA project involved the cooperative research of investigators in ORNL's Center for
Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The
subject of the research was the development of cooperative control strategies for autonomous
vehicles performing applications of interest to Caterpillar customers. The project involved three
Phases of research, conducted over the time period of November 1998 through December 2001.
This project led to the successful development of several technologies and demonstrations in
realistic simulation that illustrated the effectiveness of our control approaches for distributed
planning and cooperation in multi-robot teams.
Statement of Objectives
The primary objectives of this research project were to:
(1) Develop autonomous control technologies to enable multiple vehicles to work together
cooperatively,
(2) Provide the foundational capabilities for a human operator to exercise oversight and
guidance during the multi-vehicle task execution, and
(3) Integrate these capabilities to the ALLIANCE-based autonomous control approach for
multi-robot teams.
These objectives have been successfully met with the results implemented and demonstrated in a
near real-time multi-vehicle simulation of up to four vehicles performing mission-relevant tasks.
Benefits to the Funding DOE Office's Mission
This collaborative research project was of benefit to DOE's basic science objective by
significantly advancing the state of the art in cooperative systems. The research resulted in
robust cooperative multi-robot teams that are easy to task and control by human controllers. The
general cooperative robotic technologies developed under this CRADA are directly applicable to
the DOE mission objective of advancing fundamental science. These developed technologies are
of a general nature, which also makes them applicable to a wide range of practical applications2
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Parker, L. E. Distributing Planning and Control for Teams of Cooperating Mobile Robots, report, July 19, 2004; [Tennessee]. (https://digital.library.unt.edu/ark:/67531/metadc875319/m1/3/: accessed April 19, 2024), University of North Texas Libraries, UNT Digital Library, https://digital.library.unt.edu; crediting UNT Libraries Government Documents Department.