@TechReport{Dartmouth:TR98-332,
  author = {Michael G. Ross},
  title = {{Multiscouting: Guiding distributed manipulation with multiple mobile sensors}},
  institution = {Dartmouth College, Computer Science},
  address = {Hanover, NH},
  number = {PCS-TR98-332},
  year = {1998},
  month = {June},
  URL = {http://www.cs.dartmouth.edu/reports/TR98-332.ps.Z},
  comment = {
    Senior Honors Thesis.  Advisor: Daniela Rus.
    Source code available 
    <a href="http://www.cs.dartmouth.edu/reports/TR98-332.code.tar.Z">by ftp</a>
  },
  abstract = {
    This thesis investigates the use of multiple mobile sensors to guide the
    motion of a distributed manipulation system. In our system, multiple robots
    cooperatively place a large object at a goal in a dynamic, unstructured,
    unmapped environment. We take the system developed in [Rus, Kabir, Kotay,
    Soutter 1996], which employs a single mobile sensor for navigational tasks,
    and extend it to allow the use of multiple mobile sensors. This allows the
    system to perform successful manipulations in a larger class of spaces than
    was possible in the single scout model. We focus on the development of a
    negotiation protocol that enables multiple scouts to cooperatively plan
    system motion. This algorithm enhances the previous' system's scalability
    and adds greater fault-tolerance. Two alternate algorithms for cooperation:
    a modification of negotiation and a bidding protocol, are also discussed.
    Finally, an implementation of the negotiation protocol is described and
    experimental data produced by the implementation is analyzed.
  }
}