Multi-modal control for multi-robot system

Pao Yue-kong Library Electronic Theses Database

Multi-modal control for multi-robot system


Author: Tse, To-pong Jason
Title: Multi-modal control for multi-robot system
Degree: M.Sc.
Year: 2010
Subject: Hong Kong Polytechnic University -- Dissertations
Robots -- Control systems.
Digital control systems.
Automatic control.
Department: Dept. of Computing
Pages: x, 79 leaves : ill. ; 30 cm.
InnoPac Record:
Abstract: Robot control is a topic that many researchers are interested in. Most of the current robot control systems are focused on controlling single robots or a team of robots of the same type. They usually only allow users to control the robots through a single input mode. A robot control framework that can control multiple robots of different types through different input modes is needed. This framework provides an architecture that helps developers build their robot control system efficiently. The framework provides an interface for users to import robots into our system. Different types of robots can be used in the system and user simply needs to comply with the format of the interface to import. It also allows users to group different robots into teams or formations. They can then be easily controlled in a macro and high level manner. The framework accepts multiple input modes. The system manages the robots through a set of commands. Multiple input modes can then be linked to the same set of commands to enable multi modal control. The users can use multiple input modes simultaneously. This dissertation will also discuss a demonstration application built using this framework. It illustrates all the features of the framework and how it enables the user to control multiple robots easily.

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