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Carnegie Mellon Robotics Institute

This paper presents an architecture that enables multiple robots to explicitly coordinate actions at multiple levels of abstraction. In particular, we are developing an extension to the traditional three-layered robot architecture that enables robots to interact directly at each layer -- at the behavioral level, the robots create distributed control loops; at the executive level, they synchronize task execution; at the planning level, they use market-based techniques to assign tasks, form teams, and allocate resources. We illustrate these ideas in the context of a Mars exploration scenario.

Keywords

Multi-robot coordination, robot architecture, task-level control, space exploration

Notes

Associated Lab(s) / Group(s): Reliable Autonomous Systems Lab

Associated Project(s): Federation of Intelligent Robotic Explorers Project

Text Reference

Dani Goldberg, Vincent Cicirello, M Bernardine Dias, Reid Simmons, Stephen Smith , Trey Smith, and Anthony (Tony) Stentz, "A Distributed Layered Architecture for Mobile Robot Coordination: Application to Space Exploration," Proceedings of the 3rd International NASA Workshop on Planning and Scheduling for Space, 2002.

BibTeX Reference

@inproceedings{Goldberg_2002_4136,
   author = "Dani Goldberg and Vincent Cicirello and M Bernardine Dias and Reid Simmons and Stephen {Smith } and Trey Smith and Anthony (Tony) Stentz",
   title = "A Distributed Layered Architecture for Mobile Robot Coordination: Application to Space Exploration",
   booktitle = "Proceedings of the 3rd International NASA Workshop on Planning and Scheduling for Space",
   year = "2002",
}

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