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Carnegie Mellon Robotics Institute

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Abstract

In this paper, we present in detail our approach to constructing a world model in a multi-robot team. We introduce two separate world models, namely an individual world model that stores one robot's state, and a shared world model that stores the state of the team. We present procedures to effectively merge information in these two world models in real-time. We overcome the problem of high communication latency by sharing information on an as-needed basis. The success of our world model approach is validated by experimentation in the robot soccer domain. The results show that a team using a world model that incorporates shared information is more successful at tracking a dynamic object in its environment than a team that does not use shared information.

Notes

Associated Lab(s) / Group(s): MultiRobot Lab

Associated Project(s): Robotic Soccer

Number of pages: 6

Text Reference

Maayan Roth, Douglas Vail, and Manuela Veloso, "A Real-time World Model for Multi-Robot Teams with High-Latency Communication," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2003, pp. 2494 - 2499.

BibTeX Reference

@inproceedings{Roth_2003_5524,
   author = "Maayan Roth and Douglas Vail and Manuela Veloso",
   title = "A Real-time World Model for Multi-Robot Teams with High-Latency Communication",
   booktitle = "Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
   pages = "2494 - 2499",
   month = "October",
   year = "2003",
   volume = "3",
}

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