ALLIANCE: An architecture for fault tolerant multi-robot cooperation Metadata

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Title

  • Main Title ALLIANCE: An architecture for fault tolerant multi-robot cooperation

Creator

  • Author: Parker, L. E.
    Creator Type: Personal

Contributor

  • Sponsor: United States. Department of Energy.
    Contributor Type: Organization
    Contributor Info: USDOE, Washington, DC (United States)

Publisher

  • Name: Oak Ridge National Laboratory
    Place of Publication: Tennessee
    Additional Info: Oak Ridge National Lab., TN (United States)

Date

  • Creation: 1995-02-01

Language

  • English

Description

  • Content Description: ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot`s own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.
  • Physical Description: 43 p.

Subject

  • Keyword: Fault Tolerant Computers
  • Keyword: Computer Architecture
  • Keyword: Hazardous Materials Spills
  • STI Subject Categories: 99 Mathematics, Computers, Information Science, Management, Law, Miscellaneous
  • Keyword: Computer Networks
  • Keyword: Robots
  • Keyword: Computerized Control Systems
  • Keyword: Cooperation
  • Keyword: Cleaning
  • Keyword: A Codes
  • STI Subject Categories: 42 Engineering Not Included In Other Categories

Source

  • Other Information: PBD: Feb 1995

Collection

  • Name: Office of Scientific & Technical Information Technical Reports
    Code: OSTI

Institution

  • Name: UNT Libraries Government Documents Department
    Code: UNTGD

Resource Type

  • Report

Format

  • Text

Identifier

  • Other: DE95008658
  • Report No.: ORNL/TM--12920
  • Grant Number: AC05-84OR21400
  • DOI: 10.2172/34318
  • Office of Scientific & Technical Information Report Number: 34318
  • Archival Resource Key: ark:/67531/metadc675941

Note

  • Display Note: INIS; OSTI as DE95008658
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