Scott A. DeLoach, Eric T. Matson, and Yonghua Li
This paper reports our progress in applying multiagent systems analysis and design techniques to autonomous robotics applications. In this paper, we apply the Multiagent Systems Engineering (MaSE) methodology to design a team of autonomous, heterogeneous search and rescue robots. MaSE provides a top-down approach to building multirobotic systems instead of the bottom up approach employed in most robotic implementations. We follow the MaSE steps and discuss various approaches and their impact on the final system design.