Toward the Automated Synthesis of Cooperative Mobile Robot Teams

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A current limitation in the real-world use of cooperating mobiIe robots is the difficulty in determining the proper team composition for a given robotic application. Present technology restricts the design and implementation of cooperative robot teams to the expertise of a robotics researcher, who has to develop robot teams on an application-specific basis. The objective of our research is to reduce the complexity of cooperative robotic systems through the development of a methodology that enables the automated synthesis of cooperative robot teams. We propose an approach to this problem that uses a combination of the theories of sensori-computational systems and ... continued below

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12 Pages

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Parker, L.E. November 1, 1998.

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Description

A current limitation in the real-world use of cooperating mobiIe robots is the difficulty in determining the proper team composition for a given robotic application. Present technology restricts the design and implementation of cooperative robot teams to the expertise of a robotics researcher, who has to develop robot teams on an application-specific basis. The objective of our research is to reduce the complexity of cooperative robotic systems through the development of a methodology that enables the automated synthesis of cooperative robot teams. We propose an approach to this problem that uses a combination of the theories of sensori-computational systems and information invariants, building on the earlier work of Donald, Rus, et al. We describe the notion of defining equivalence classes that serve as fundamental building blocks of more complex cooperative mobile robot behaviors. We postulate a methodology for framing mission requirements in terms of the goals and constraints of the problem, incorporating issues such as multi-robot interference, communication, control strategy, robot complexity, and so forth, into the mechanism. Our initial work restricts the robot application and design space to three multi-robot application domains we have previously studied and implemented: keeping formation, "mock" hazardous waste cleanup, and cooperative observation. This paper presents the foundational ideas upon which our approach to cooperative team design is based. Keywords: Cooperative behaviors, behavior synthesis, multi-robot learning

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12 Pages

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  • SPIE Mobile Robots XIII, Boston, MA, Nov. 1-5, 1998

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  • Other: DE00002970
  • Report No.: ORNL/CP-100540
  • Grant Number: AC05-96OR22464
  • Office of Scientific & Technical Information Report Number: 2970
  • Archival Resource Key: ark:/67531/metadc678313

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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  • November 1, 1998

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  • July 25, 2015, 2:20 a.m.

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  • Nov. 4, 2015, 2:37 p.m.

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Parker, L.E. Toward the Automated Synthesis of Cooperative Mobile Robot Teams, article, November 1, 1998; United States. (digital.library.unt.edu/ark:/67531/metadc678313/: accessed November 18, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.