"Application of the Distributed Field Robot Architecture to a Simulated Demining Task", Matt Long, Aaron Gage, Robin Murphy and Kimon Valavanis also to appear in "2005 IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain". [pdf]

Abstract—As mobile robot teams become more complex, it is necessary to develop a control architecture to manage the resources present in the team. The Distributed Field Robot Architecture (DFRA) is a distributed, object-oriented implementation of the SFX hybrid robot architecture that allows for dynamic discovery and acquisition of robot resources and the seamless integration of humans and artificial agents in the robot team. This paper introduces the DFRA and details its application to a high-fidelity demining scenario using a heterogeneous team of ground and aerial robots.