Autonomous Multi-Agent Docking Using Color Segmentation

Abstract

This poster will look at the work in progress of an autonomous multi-agent scheme for ego-centric docking, meaning that the agent docking has no communication or help from the agent to which it is docking. Docking has become a major issue in marsupial robots, and has applications in space exploration, urban search and rescue, and reconnaissance. This work attempts to make use of color segmentation of a fiducial and affordances in reactive behaviors to autonomously dock a mobile robot agent, specifically a marsupial type of heterogeneous team. To this end, a real-time solution was also needed, and thus limited the algorithm to the lowest order complexity that could be managed while still being robust.