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
Workshop Paper, Proceedings of the 3rd International NASA Workshop on Planning and Scheduling for Space, January, 2002


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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.


@workshop{Goldberg-2002-16842,
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},
month = {January},
keywords = {Multi-robot coordination, robot architecture, task-level control, space exploration},
} 2019-06-28T09:56:05-04:00