Skip to main content
A Framework and Architecture for Multi-Robot Coordination
International Journal of Robotics Research
  • Rajeev Alur, University of Pennsylvania
  • Aveek J Das, University of Pennsylvania
  • Joel Esposito, University of Pennsylvania
  • Rafael Fierro, University of Pennsylvania
  • Gregory Grudic, University of Pennsylvania
  • Yerang Hur, University of Pennsylvania
  • R. Vijay Kumar, University of Pennsylvania
  • Insup Lee, University of Pennsylvania
  • James Ostrowski, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
  • B. Southall, University of Pennsylvania
  • John R Spletzer, University of Pennsylvania
  • Camillo J Taylor, University of Pennsylvania
Date of this Version
Document Type
Journal Article
Copyright Sage Publications. Postprint version. Published in International Journal of Robotics Research, Volume 21, Issue 10-11, October-November 2002, pages 977-995.
In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment with applications ranging from scouting and reconnaissance, to search and rescue and manipulation tasks. Our software framework provides the methodology and the tools that enable robots to exhibit deliberative and reactive behaviors in autonomous operation, to be reprogrammed by a human operator at run-time, and to learn and adapt to unstructured, dynamic environments and new tasks, while providing performance guarantees. We demonstrate the algorithms and software on an experimental testbed that involves a team of car-like robots using a single omnidirectional camera as a sensor without explicit use of odometry.
Copyright/Permission Statement
The final, definitive version of this article has been published in the Journal, International Journal of Robotics Research, Vol 21/Issue Number 10-11, 2002, © SAGE Publications, Inc., 2002 by SAGE Publications, Inc. at the International Journal of Robotics Research page: on SAGE Journals Online:
Citation Information
Rajeev Alur, Aveek J Das, Joel Esposito, Rafael Fierro, et al.. "A Framework and Architecture for Multi-Robot Coordination" International Journal of Robotics Research Vol. 21 Iss. 10-11 (2002) p. 977 - 995
Available at: