Multiple Resource Host Architecture (MRHA) for the Mobile Detection Assessment Response System (MDARS) Revision A

Abstract : The Mobile Detection Assessment and Response System (MDARS) program employs multiple robotic security platforms operating under the high level control of a remote host, with the direct supervision of a human operator. This document describes the major components of a distributed host architecture geared towards a single guard controlling up to thirty-two robots, and explores some of the key issues that were considered in the development phase. The objective is to field a supervised robotic security system that basically runs itself until an exceptional condition is encountered, which requires human intervention.

[1]  G. Gilbreath,et al.  Path Planning And Collision Avoidance For An Indoor Security Robot , 1989, Other Conferences.

[2]  H R Everett,et al.  ROBART II: An Intelligent Security Robot. , 1987 .

[3]  Richard P. Smurlo.  Intelligent Security Assessment for a Mobile Robot , 1993 .

[4]  Rodney A. Brooks,et al.  Solving the find-path problem by good representation of free space , 1982, IEEE Transactions on Systems, Man, and Cybernetics.

[5]  Dennis E. Egan,et al.  Handbook of Human Computer Interaction , 1988 .

[6]  John Karat,et al.  A Comparison of Menu Selection Techniques: Touch Panel, Mouse and Keyboard , 1986, Int. J. Man Mach. Stud..

[7]  Ben Shneiderman,et al.  High Precision Touchscreens: Design Strategies and Comparisons with a Mouse , 1991, Int. J. Man Mach. Stud..

[8]  Hans P. Moravec.  Certainty grids for mobile robots , 1987 .

[9]  Walter A. Aviles.  Issues in Mobile robotics: The Unmanned Ground Vehicle Program TeleOperated Vehicle , 1990 .

[10]  Tomás Lozano-Pérez,et al.  An algorithm for planning collision-free paths among polyhedral obstacles , 1979, CACM.

[11]  B Everett.  A Multi-Element Ultrasonic Ranging Array , 1985 .

[12]  Ronald C. Fryxell.  Navigation Planning Using Quadtrees , 1987, Other Conferences.

[13]  Liqiang Feng,et al.  Navigating Mobile Robots: Systems and Techniques , 1996 .

[14]  Hobart R. Everett,et al.  Modeling the Environment of a Mobile Security Robot , 1990 .

[15]  Hobart R. Everett,et al.  Survey of collision avoidance and ranging sensors for mobile robots , 1989, Robotics Auton. Syst..

[16]  F. Rubin,et al.  The Lee Path Connection Algorithm , 1974, IEEE Transactions on Computers.

[17]  Hobart R. Everett.  A microprocessor controlled autonomous sentry robot. , 1982 .

[18]  Alan E. Albert.  The Effect of Graphic Input Devices on Performance in a Cursor Positioning Task , 1982 .

[19]  Hobart R. Everett,et al.  Sensors for Mobile Robots: Theory and Application , 1995 .

[20]  Hobart R. Everett,et al.  A supervised autonomous security robot , 1988, Robotics Auton. Syst..

[21]  C. Y. Lee.  An Algorithm for Path Connections and Its Applications , 1961, IRE Trans. Electron. Comput..

[22]  Hobart R. Everett,et al.  Hybrid navigational control scheme for autonomous platforms , 1991 .

[23]  H. R. Everett,et al.  Wide-Angle Optical Ranging System , 1990, Other Conferences.