Multi-robot systems: from swarms to intelligent automata. by Lynne E. Parker, Frank E. Schneider, Alan C. Schultz

By Lynne E. Parker, Frank E. Schneider, Alan C. Schultz

This court cases quantity records contemporary state of the art advancements in multi-robot structures examine. This quantity is the results of the 3rd foreign workshop on Multi-Robot structures that used to be held in March 2005 on the Naval learn Laboratory in Washington, D.C. This workshop introduced jointly best researchers operating in components appropriate to designing groups of independent cars, together with robots and unmanned flooring, air, floor, and undersea autos. The workshop excited by the difficult problems with staff architectures, motor vehicle studying and model, heterogeneous team keep an eye on and cooperation, job choice, dynamic autonomy, combined initiative, and human and robotic group interplay. A wide variety of purposes of this know-how are offered during this quantity, together with UCAVS (Unmanned strive against Air Vehicles), micro-air autos, UUVs (Unmanned Underwater Vehicles), UGVs (Unmanned flooring vehicles), planetary exploration, meeting in area, clean-up, and concrete seek and rescue.This complaints quantity represents the contributions of the head researchers during this box and serves as a priceless software for pros during this interdisciplinary box.

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Extra info for Multi-robot systems: from swarms to intelligent automata. Proceedings from the 2005 International Workshop on Multi-Robot Systems /Vol. III

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We establish that such network-mediated task allocation scales well, and is especially amendable to simple, heterogeneous robots. Keywords: Mobile robots, sensor networks, task allocation, distributed 1. Introduction We focus on the intentional cooperation of robots toward a goal ((Parker, 1998)). Within such a setting, a natural question is the assignment of robots to sub-goals such that the ensemble of robots achieves the overall objective. Following ((Gerkey and Matarict’, 2004)) we call such sub-goals, tasks, and their assignment to robots, the Multi-Robot Task Allocation (MRTA) problem.

Further, robots do not need conventional localization or mapping support. 2 Communication: Robots are not required to be within communication range of each other. The network is used for propagating messages between the robots. 3 Scaling: There is no computation or communication overhead associated with increasing the number of robots. 4 Identity: Robots are not required to recognize each other. 5 Heterogeneity: Robots may be of different types, and need only a common interface to the sensor network.

Teams of robots that operates without an effective teamwork strategy are likely to hamper each other’s efforts and perform as an inferior team. Our primary research interests are in exploring the scientific challenges of developing effective teamwork strategies for autonomous robotic systems where all sensing and cognition is done on-board the robot. , 2002). In this previous work, we made use of artificial potential field methods and have found them to be a very powerful way of representing multiple constraints when positioning robots.

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