Controlling collective tasks with an ALN

In this paper, we explore the idea of using an Adaptive Logic Network (ALN) 2] for behaviour arbitration. Our approach is to deene the collective task, to be performed by multiple robots, as a group behaviour. The group behaviour is a set of behaviours, each of which speciies a single step in the collective task. An environmental cue can be used to control the transition between behaviours, thus allowing the progress of the collective task to self-govern its execution. We simplify the behaviour arbitration in the collective task by training an ALN implemented using simple combinational logic. We provide a description of our Collective Robotic Intelligence Project (CRIP) including our simulation results and our multi-robot system on which these results will be deployed.