Principled Communication for Dynamic Multi robot Task Allocation
University of Southern California Los Angeles United States
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In the pursuit of an efficient cooperative multi-robot system, the researcher must eventually answer the question how should robots communicate a natural way to attack this question is to decompose it into three simpler corollaries what should robots communicate, when should they communicate and with whom should they communicate. In this paper, we propose answers to these questions in the form of a general framework for inter-robot communication and, more specifically, advocate its use in dynamic task allocation for teams of cooperative mobile robots. We base our communication model on publishsubscribe messaging and validate our system by using it in a tightly-coupled multi-robot manipulation task and a loosely-coupled long-term experiment involving many robots concurrently executing different tasks.