Multi/Heterogeneous Robot System Design/Integration Technology for Collaborative Exploration

In this paper, we describe the design of a multi/heterogeneous robot system for exploration of unknown terrains or facilities. In order to explore unidentified facilities, various types of platforms are needed to overcome unexpected terrain environments, and for rapid real-time exploration, multiple platforms must be deployed simultaneously and operated effectively. For this purpose, four types of platforms are proposed along with their HW/SW design details. The entire system message contents are also designed for interconnection between platforms and between platform and controllers. Through actual platform development, integration, and demonstration, it is confirmed that efficient exploration is possible using the designed platform and system.