A distributed multi-robot cooperation framework for real time task achievement


Sarıel Uzer S. , Balch T.

8th International Symposium on Distributed Autonomous Robotic Systems (DARS 8), Minnesota, United States Of America, 12 - 14 July 2006, pp.187-188 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1007/4-431-35881-1_19
  • City: Minnesota
  • Country: United States Of America
  • Page Numbers: pp.187-188

Abstract

In this paper, we propose a general framework, DEMiR-CF, for a multi-robot team to achieve a complex mission including inter-related tasks that require diverse capabilities and/or simultaneous executions. Our framework integrates a distributed task allocation scheme, cooperation mechanisms and precaution routines for multi-robot team execution. Its performance has been demonstrated in Naval Mine Countermeasures, Multi-robot Multi-Target Exploration and Object Construction domains. The framework not only ensures near-optimal solutions for task achievement but also efficiently responds to real time contingencies.