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RI | Publications | A Layered Architecture for Coordination of Mobile Robots
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Text only version of this site
A Layered Architecture for Coordination of Mobile Robots
R. Simmons, T. Smith, M.B. Dias, D. Goldberg, D. Hershberger, A. Stentz, and R.M. Zlot
Multi-Robot Systems: From Swarms to Intelligent Automata, Proceedings from the 2002 NRL Workshop on Multi-Robot Systems, Kluwer Academic Publishers, May, 2002.
Jump to: Abstract | Notes | Text Reference | BibTeX Reference
| 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 can create distributed control loops; at the executive level, they can synchronize task execution; at the planning level, we are investigating the use of market-based techniques for team formation, resource allocation, and role assignment. We illustrate these ideas through applications in multi-robot assembly, multi-robot deployment, and multi-robot mapping.
| Notes |
Associated lab/group: Reliable Autonomous Systems Lab
Associated project: Federation of Intelligent Robotic Explorers Project
| Text Reference |
R. Simmons, T. Smith, M.B. Dias, D. Goldberg, D. Hershberger, A. Stentz, and R.M. Zlot, "A Layered Architecture for Coordination of Mobile Robots," Multi-Robot Systems: From Swarms to Intelligent Automata, Proceedings from the 2002 NRL Workshop on Multi-Robot Systems, Kluwer Academic Publishers, May, 2002.
| BibTeX Reference |
@inproceedings{Simmons_2002_4135,
author = "Reid Simmons and Trey Smith and M Bernardine Dias and Dani Goldberg and David Hershberger and Anthony (Tony) Stentz and Robert Michael Zlot",
title = "A Layered Architecture for Coordination of Mobile Robots",
booktitle = "Multi-Robot Systems: From Swarms to Intelligent Automata, Proceedings from the 2002 NRL Workshop on Multi-Robot Systems",
month = "May",
year = "2002",
publisher = "Kluwer Academic Publishers"
}