Programming and Controlling the Operations of a Team of Miniature Robots

We describe a software architecture used to control the operations of a group of miniature mobile robots called Scouts. Due to their small size, the Scouts rely on a proxy processing scheme where they receive commands and transmit sensor information over RF channels to a controlling workstation. Because the bandwidth of these channels is limited, a scheduling system has been developed that allows the robots to share the bandwidth. Experimental results are described.