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RI | Publications | A Real-time World Model for Multi-Robot Teams with High-Latency Communication
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Text only version of this site
A Real-time World Model for Multi-Robot Teams with High-Latency Communication
M. Roth, D. Vail, and M. Veloso
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 3, October, 2003, pp. 2494 - 2499.
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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/group: MultiRobot Lab
Associated project: Robotic Soccer
Number of pages: 6
| Text Reference |
M. Roth, D. Vail, and M. 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), Vol. 3, 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)",
month = "October",
year = "2003",
volume = "3",
pages = "2494 - 2499"
}