Distributed control for a modular, reconfigurable cliff robot

Paolo Pirjanian, Chris Leger, Erik Mumm, Brett Kennedy, Mike Garrett, Hrand Aghazarian, Shane Farritor, Paul Schenker

Research output: Contribution to journalArticlepeer-review

28 Scopus citations


We have developed a cliff robot that is capable of descending into a cliff and autonomous navigation to way-points on the cliff wall. This aggressive mobility system consists of an ensemble of three tethered robots, which cooperatel under tight coordinated control and collective state estimation. The distributed task is described as a behavior network, which consists of a network of controllers spread across the robots and which interact through communication links to achieve a collective control objective. Fielded experimental results show that the cliff robot is capable of navigating to designated way-points on a cliff wall using the proposed control scheme.

Original languageEnglish (US)
Pages (from-to)4083-4088
Number of pages6
JournalProceedings-IEEE International Conference on Robotics and Automation
StatePublished - 2002

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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