ABSTRACT
Networked robot systems are ensembles of robots that enhance
their individual capabilities by sharing perception, computation,
and actuation capabilities with each other to solve problems that
an individual robot could not solve alone. In this chapter, we
focus on architectures and control of autonomous networked robot
systems that communicate wirelessly. We will first provide an
overview of current networked robot platforms that span three
orders of magnitude in size (from millimeters to meters); operate
on the ground, in the air, and underwater; and are networked
using light, sound, and radio. We will then describe classes of
algorithms and their analysis used for coordination of teams of
robots, focusing on reactive and deliberative algorithms for sharing
perception, computation, and actuation. The chapter is concluded
with a summary of current challenges and promising directions.