Io, Ganymede, and Callisto A Multiagent Robot Trash-Collecting Team

Tucker Balch, Gary Boone, Thomas Collins, Harold Forbes, Doug MacKenzie, Juan Carlos Santamar


The Georgia Institute of Technology won the Office Cleanup event at the 1994 AAAI Robot Competition and Exhibition with a multirobot cooperating team. This article describes the design and implementation of these reactive trash-collecting robots, including details of multiagent cooperation, color vision for the detection of perceptual object classes, temporal sequencing of behaviors for task completion, and a language for specifying motor schema-based robot behaviors.

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