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):
Report Date:
1994-02-01
Pagination or Media Count:
244.0
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:
Subject Categories:
- Cybernetics