Toward the automated synthesis of cooperative mobile robot teams

A current limitation in the real-world use of cooperating mobile robots is the diiculty in determining the proper team composition for a given robotic application. Present technology restricts the design and implementation of cooperative robot teams to the expertise of a robotics researcher, who has to develop robot teams on an application-speciic basis. The objective of our research is to reduce the complexity of cooperative robotic systems through the development of a methodology that enables the automated synthesis of cooperative robot teams. We propose an approach to this problem that uses a combination of the theories of sensori-computational systems and information invariants, building on the earlier work of Donald, Rus, et al. We describe the notion of deening equivalence classes that serve as fundamental building blocks of more complex cooperative mobile robot behaviors. We postulate a methodology for framing mission requirements in terms of the goals and constraints of the problem, incorporating issues such as multi-robot interference, communication, control strategy, robot complexity, and so forth, into the mechanism. Our initial work restricts the robot application and design space to three multi-robot application domains we have previously studied and implemented: keeping formation, \mock" hazardous waste cleanup, and cooperative observation. This paper presents the foundational ideas upon which our approach to cooperative team design is based.