Accession Number : ADA617683


Title :   Coordinating Robot Teams for Disaster Relief


Descriptive Note : Conference paper preprint


Corporate Author : OFFICE OF THE ASSISTANT SECRETARY OF DEFENSE (RESEARCH AND ENGINEERING) WASHINGTON DC


Personal Author(s) : Roberts, Mark ; Apker, Thomas ; Johnson, Benjamin ; Auslander, Bryan ; Wellman, Briana ; Aha, David W


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a617683.pdf


Report Date : May 2015


Pagination or Media Count : 7


Abstract : To perform complex tasks, a team of robots requires both reactive and deliberative planning. For reactive control, a restricted variant of Linear Temporal Logic called General Reactivity(1) can be used to synthesize correct-by-construction controllers in polynomial time, but they often ignore time and resource constraints to maintain tractable synthesis. For deliberation, hierarchical planning can be used to reason about time and resources. However, the coordination of reactive control and deliberation remains a challenge, which we accomplish through a set of Coordination Variables. We integrate these two approaches in the Situated Decision Process (SDP), a system that we are developing. The SDP will allow an Operator to control a team of semi-autonomous vehicles performing information gathering tasks for Humanitarian Assistance / Disaster Relief operations. We demonstrate that the SDP responds to a dynamic, open world while ensuring that vehicles eventually perform their commanded actions.


Descriptors :   *COLLABORATIVE TECHNIQUES , *COMPUTER COMMUNICATIONS , *DECISION MAKING , *ROBOTS , *SITUATIONAL AWARENESS , *VEHICLES , DISASTERS , HUMANITARIAN ASSISTANCE , INFORMATION RETRIEVAL , MAN COMPUTER INTERFACE , MULTISENSORS , OPERATORS(PERSONNEL) , PERFORMANCE(ENGINEERING) , REASONING , SEMANTICS


Subject Categories : Cybernetics
      Land and Riverine Navigation and Guidance
      Escape, Rescue and Survival


Distribution Statement : APPROVED FOR PUBLIC RELEASE