A Distributed Layered Architecture for Mobile Robot Coordination: Application to Space Exploration
Workshop Paper, 3rd International NASA Workshop on Planning and Scheduling for Space, October, 2002
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.
BibTeX
@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 3rd International NASA Workshop on Planning and Scheduling for Space},
year = {2002},
month = {October},
keywords = {Multi-robot coordination, robot architecture, task-level control, space exploration},
}
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