IQ-ASyMTRe: Forming Executable Coalitions for Tightly Coupled Multirobot Tasks
نویسندگان
چکیده
منابع مشابه
ASyMTRe: Building Coalitions for Heterogeneous Multi-Robot Teams
This dissertation addresses the problem of synthesizing task solution strategies for a heterogeneous robot team to accomplish multi-robot tasks by sharing sensory and computational resources. The approach I developed is called ASyMTRe, which stands for Automated Synthesis of Multi-robot Task solutions through software Reconfiguration, pronounced “Asymmetry”. When dealing with heterogeneous team...
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This paper presents a mechanism enabling robot team members to share sensor information to achieve tightly-coupled cooperative tasks. This approach, called ASyMTRe, is based on a distributed extension of schema theory that allows schema-based building blocks to be interconnected in many ways, regardless of whether they are on the same or different robots. The inputs and outputs of schema are la...
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Autonomous agents are being introduced in a wide variety of domains, because they promise to increase agility. Example domains where these systems are emerging are such diverse domains as multi-modal transportation, crisis response, firefighting with unmanned aerial vehicles and air traffic control. In general, the tasks that need to be performed in these domains are interdependent, require mor...
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Exploration of high risk terrain areas such as cliff faces and site construction operations by autonomous robotic systems on Mars requires a control architecture that is able to autonomously adapt to uncertainties in knowledge of the environment. We report on the development of a software/hardware framework for cooperating multiple robots performing such tightly coordinated tasks. This work bui...
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Consider a team of robots tasked with exploring a hazardous planetary environment in which robot failure is likely. To aid in failure detection and robot recovery, we might constrain each robot to remain in communication contact with a fixed base station at all times, either directly or via its teammates. An exploring robot must then plan a path that is always connected, perhaps with the active...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2013
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2012.2228135