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Summary: Multi-Robot Disaster Recon: Building Software Foundations with Real
and Simulated Robots to Work with a Common Interface
Roger Wu, Curtis M. Humphrey, Sanford T. Freeman, Julie A. Adams
Department of Electrical Engineering and Computer Science
Vanderbilt University
Nashville, Tennessee USA 37235
Abstract
As progress towards automation and decreased human teleoperation of multi-robot systems continues, the
need arises for a software system encapsulating the robotic device to train new users and test new
autonomous algorithms. This system carries several advantages: reducing wear and tear on the physical
robots during training and testing, reducing redesign at the user interface level, and reducing time spent with
users in training. The system provides support to the Flash User Interface (UI) (Humprey et. al, 2007),
developed to improve situational awareness while operating multi-robot systems, via the Gamebots protocol
(Wang et. al, 2005) parsing and adapting these commands to the Player (Gerkey et. al, 2001) provided
interface on-board the robot or in conjunction with the Gazebo simulator (Koenig and Howard, 2004) via
TCP. Design and functionality of the current system is reviewed, and milestones for future versions are
outlined.
Introduction
Multi-robot systems are complex, and require
extensive testing, in terms of both automated
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