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M. K. Sahota, Alan K. Mackworth, R. A. Barman, and S. J. Kingdon. Real-time Control of Soccer-playing Robots Using Off-board Vision: The Dynamite Testbed. In Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, pp. 3690–3693, Vancouver, BC, October 1995.
The Dynamite testbed has been constructed for experiments with autonomous mobile robots. It consists of a fleet of radio-controlled vehicles that receive commands from a remote computer. All the robots share an off-board vision system that tracks the position and orientation of each robot at 6OHz. A novel aspect of this system is that computer vision is used not only for sensing the environment, but also for sensing the state of the robot itself. The former information is used for planning and the latter for control. The testbed has been used successfully for experiments with robot soccer games to compare the effectiveness of altemate control architectures. Testbed use is facilitated through a graphical simulator that allows control programs to be tested off-line at a workstation. The testbed has been developed to the point where we now have a portable version that has been demonstrated at a number of conferences.
@InProceedings{IEEE-SMC95,
author = {M. K. Sahota and Alan K. Mackworth and R. A. Barman and S. J. Kingdon},
title = {Real-time Control of Soccer-playing Robots Using Off-board Vision: The Dynamite Testbed},
year = {1995},
month = {October},
booktitle = {Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics},
address = {Vancouver, BC},
pages = {3690--3693},
abstract = {The Dynamite testbed has been constructed for experiments
with autonomous mobile robots. It consists
of a fleet of radio-controlled vehicles that receive
commands from a remote computer. All the
robots share an off-board vision system that tracks
the position and orientation of each robot at 6OHz.
A novel aspect of this system is that computer vision
is used not only for sensing the environment, but
also for sensing the state of the robot itself. The former
information is used for planning and the latter
for control. The testbed has been used successfully
for experiments with robot soccer games to compare
the effectiveness of altemate control architectures.
Testbed use is facilitated through a graphical simulator
that allows control programs to be tested off-line
at a workstation. The testbed has been developed to
the point where we now have a portable version that
has been demonstrated at a number of conferences. },
bib2html_pubtype ={Refereed Conference Proceeding},
bib2html_rescat ={},
}
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