Accession Number : ADA279839


Title :   Heterogeneous Multi-Robot Cooperation


Descriptive Note : Technical rept.


Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB


Personal Author(s) : Parker, Lynne E


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a279839.pdf


Report Date : Feb 1994


Pagination or Media Count : 244


Abstract : This report addresses the problem of achieving cooperation within small- to medium-sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates robust, fault tolerant, reliable, and adaptive cooperative control. In addition, an extended version of ALLIANCE, called L-ALLIANCE, is described, which incorporates a dynamic parameter update mechanism that allows teams of mobile robots to improve the efficiency of their mission performance through learning. A number of experimental results of implementing these architectures on both physical and simulated mobile robot teams are described. In addition, this report presents the results of studies of a number of issues in mobile robot cooperation, including fault tolerant cooperative control, adaptive action selection, distributed control, robot awareness of team member actions, improving efficiency through learning, inter-robot communication, action recognition, and local versus global control. Cooperative robotics, Behavior- based, Emergent, Distributed control, Fault tolerant, Action selection.


Descriptors :   *ROBOTS , *COOPERATION , CONTROL , GLOBAL , ROBOTICS , EFFICIENCY , MOBILE , HETEROGENEITY , LEARNING , FAULT TOLERANCE , FAULTS , AWARENESS , SELECTION , BEHAVIOR , MISSIONS , PROBLEM SOLVING , COMPUTER ARCHITECTURE , DYNAMICS , PARAMETERS


Subject Categories : Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE