Distributed control of multi-robot teams: Cooperative baton passing task

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Description

This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, ... continued below

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6 p.

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Parker, L. E. November 1998.

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Description

This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably 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. After presenting ALLIANCE, they describe the implementation of this architecture on a team of physical mobile robots performing a cooperative baton passing task. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes during the task.

Physical Description

6 p.

Notes

OSTI as DE99000392

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  • ISAS `98: 4. international conference on information systems analysis and synthesis, Orlando, FL (United States), 12-16 Jul 1998

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  • Other: DE99000392
  • Report No.: ORNL/CP--99113
  • Report No.: CONF-980772--
  • Grant Number: AC05-96OR22464
  • Office of Scientific & Technical Information Report Number: 291068
  • Archival Resource Key: ark:/67531/metadc683377

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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.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • November 1998

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  • July 25, 2015, 2:20 a.m.

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  • Jan. 19, 2016, 12:44 p.m.

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Parker, L. E. Distributed control of multi-robot teams: Cooperative baton passing task, article, November 1998; Tennessee. (digital.library.unt.edu/ark:/67531/metadc683377/: accessed November 22, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.