This project involves the creation and testing of a framework for human supervision of multi-robot systems (HSMRS). The framework serves as a guide for others to implement their own systems. The framework contains abstractions of relevant entities such as Agents and Tasks, workflows which depict the interactions between the entities, and design guides for integrating the system. A survey of multi-robot system research was conducted and areas of strength, such as distributed coordination and utilities, were chosen as inspirations for the final design. The framework is tested using a scenario involving ground coverage tasks, similar to what would be required of systems deployed for search and rescue and exploration.
Worcester Polytechnic Institute
Major Qualifying Project
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Electrical and Computer Engineering