An Autonomous Multi-Agent Testbed using Infrared Wireless Communication and Localization

The Autonomous Robotics and Control Systems Laboratory at the University of Washington has developed a testbed consisting of seven K-Team Khepera II miniature robots, a global vision system and a custom-designed infrared communication structure. The purpose of the testbed is to provide a platform for the real-world testing of distributed and centralized control algorithms for groups of autonomous robots. The testbed enables experiment design and execution to take place in an efficient and rapid manner. This paper describes the testbed components, most of which are available commercially. The new infrared communication turret is described in detail.