Lessons Learned in the Implementation of a Multi-Robot Trashcollecting Team

Tucker Batch, Juan Carlos Santamaria, Gary Boone, Tom Collins, Harold Forbes, and Doug MacKenzie

This paper describes lessons learned in the design, construction and programming of a team of three reactive trash-collecting robots. The robots placed first in the Office Cleanup Event at the 1994 AAAI Mobile Robot Competition. The discussion includes details of multiagent cooperation, color vision for the detection of perceptual object classes, temporal sequencing of behaviors for task completion, and a language for specifying motor schema-based robot behaviors. We also address questions regarding architectual design choices in the robots’ construction.


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