A Distributed Layered Architecture for Mobile Robot Coordination: Application to Space Exploration

Dani Goldberg, Vincent Cicirello, M Bernardine Dias, Reid Simmons, Stephen Smith, Trey Smith, and Anthony (Tony) Stentz
Proceedings of the 3rd International NASA Workshop on Planning and Scheduling for Space, 2002.


Abstract
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",
}