Motivation and Context-Based Multi-Robot Architecture for Dynamic Task, Role and Behavior Selections

This paper proposes a multi-robot coordination architecture for dynamic task, role and behavior selections. The proposed architecture employs the motivation of task, the utility of role, a probabilistic behavior selection and a team strategy for efficient multi-robot coordination. Multiple robots in a team can coordinate with each other by selecting appropriate task, role and behavior in adversarial and dynamic environment. The effectiveness of the proposed architecture is demonstrated in dynamic environment robot soccer by carrying out computer simulation and real environment.