The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

In dangerous and uncertain environments initial plans must be revised. Communication failures hamper this replanning. We introduce fractured subteams as a novel formalism for modeling breakdowns in communication. We present a hy- brid approach that employs distributed coordination mech- anisms to provide robustness to these communication break- downs and exploits opportunistic centralization. By mod- eling the problem as a mixed integer linear programming problem, we are able to apply constraint optimization tech- niques to efficiently find optimal or near optimal solutions to the difficult class of time critical tight coordination team planning problems. We then demonstrate that explicitly reasoning about communication failures through the incor- poration of selective disruption minimization can improve team performance.

Keywords

Multirobot coordination, communication failure, mixed integer linear programming

Notes

Sponsor: NSF

Associated Center(s) / Consortia: Center for Integrated Manfacturing Decision Systems

Associated Lab(s) / Group(s): Advanced Agent - Robotics Technology Lab

Number of pages: 3

Text Reference

Mary Koes, Katia Sycara, and Illah Nourbakhsh, "A Constraint Optimization Framework for Fractured Robot Teams," Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), May, 2006.

BibTeX Reference

@inproceedings{Koes_2006_5434,
   author = "Mary Koes and Katia Sycara and Illah Nourbakhsh",
   title = "A Constraint Optimization Framework for Fractured Robot Teams",
   booktitle = "Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS)",
   month = "May",
   year = "2006",
}

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