A Distributed Boundary Detection Algorithm for Multi-Robot Systems (2009)
James Mclurkin, Erik D. Demaine
Abstract — We describe a distributed boundary detection algorithm suitable for use on multi-robot systems with dynamic network topologies. We assume that each robot has access to its local network...
Jonathan Bachrach, James Mclurkin, Anthony Grue
Multi-robot systems are becoming increasingly prevalent, but programmability is a major barrier to their deployment. Present systems force programmers to think in terms of individual agents....
From Theory to Practice: Distributed Coverage Control Experiments with Groups of Robots (2009)
Mac Schwager, James Mclurkin, Daniela Rus
Summary. A distributed algorithm is presented that causes a network of robots to spread out over an environment, while aggregating in areas of high sensory interest. The algorithm is a discrete-time...
There are many important and useful tasks you can do with a swarm of 100 autonomous robots working together. Playing music in an orchestra is not one of these applications, but its two main building...
Speaking Swarmish: Human-Robot Interface Design for Large Swarms of Autonomous Mobile Robots (2008)
James Mclurkin, Jennifer Smith, James Frankel, David Sotkowitz, David Blau, Brian Schmidt
Human-robot interfaces for interacting with hundreds of autonomous robots must be very different from single-robot interfaces. The central design challenge is developing techniques to maintain,...
The Ants: A Community of Microrobots (2008)
As the field of robotics advances, new areas of research are emerging. Two of these new fields are microrobotics and robotic communities. The goal of my thesis is to explore both of these areas with...
Abstract Distributed algorithms running on multi-robot systems rely on ad-hoc networks to relay messages throughout the group. The propagation speed of these messages is large, but not infinite, and...
Distributed Coverage Control with Sensory Feedback for Networked Robots (2006)
Mac Schwager, James Mclurkin, Daniela Rus
Abstract — This paper presents a control strategy that allows a group of mobile robots to position themselves to optimize the measurement of sensory information in the environment. The robots use...
Dynamic Task Assignment in Robot Swarms (2005)
Abstract — A large group of robots will often be partitioned into subgroups, each subgroup performing a different task. This paper presents four distributed algorithms for assigning swarms of...
James Mclurkin, Jennifer Smith
We describe a set of distributed algorithms used to disperse a large group of autonomous mobile robots efficiently throughout an indoor environment. Only local inter-robot communication and...