/A Layered Architecture for Coordination of Mobile Robots

A Layered Architecture for Coordination of Mobile Robots

Reid Simmons, Trey Smith, M Bernardine Dias, Dani Goldberg, David Hershberger, Anthony (Tony) Stentz and Robert Michael Zlot
Conference Paper, Multi-Robot Systems: From Swarms to Intelligent Automata, Proceedings from the 2002 NRL Workshop on Multi-Robot Systems, May, 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 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.

BibTeX Reference
@conference{Simmons-2002-8448,
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},
year = {2002},
month = {May},
editor = {Alan C. Schultz, Lynne E. Parker},
publisher = {Kluwer Academic Publishers},
keywords = {Multi-robot coordination, robot architecture, task-level control},
}
2017-09-13T10:45:12-04:00