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Multi-Robot System Control Architecture (MRSCA) for Agricultural Production

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  2010 Pittsburgh, Pennsylvania, June 20 - June 23, 2010  1008703.(doi:10.13031/2013.36212)
Authors:   Santosh K Pitla, Joe D Luck, Scott A Shearer
Keywords:   Multi-robot system, control architecture, inter-robot communication, coordination strategy

Coordinating multiple autonomous robots for achieving an assigned collective task presents a complex engineering challenge. In this paper multi robot system control architecture (MRSCA) for the coordination of multiple agricultural robots is developed. The two important aspects of MRSCA; coordination strategy and inter-robot communication were discussed with typical agricultural tasks as examples. Classification of MRS into homogeneous and heterogeneous robots was done to identify appropriate form of cooperative behavior and inter-robot communication. The framework developed, proposes that inter-robot communication is not always required for a MRS. Three types of cooperative behaviors; No-cooperation, modest cooperation and absolute cooperation for a MRS were devised for accomplishing a variety of coordinated operations in agricultural production.

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