Heterogeneous Multi-Robot Cooperation
Item
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Title
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en_US
Heterogeneous Multi-Robot Cooperation
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Creator
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en_US
Parker, Lynne E.
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Date
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2004-10-20T20:24:10Z
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Date Available
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2004-10-20T20:24:10Z
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Date Issued
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en_US
1994-02-01
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Identifier
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en_US
AITR-1465
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Abstract
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en_US
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.
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Extent
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61755305 bytes
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13187303 bytes
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Format
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application/postscript
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application/pdf
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Language
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en_US
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Relation
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en_US
AITR-1465