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, Amerika Birleşik Devletleri, 12 - 14 Temmuz 2006, ss.187-188 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1007/4-431-35881-1_19
  • Basıldığı Şehir: Minnesota
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.187-188
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

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.