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

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


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


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


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


  • Creation: 1998-11


  • English


  • Content 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.


  • Keyword: Research Programs
  • Keyword: Robots
  • STI Subject Categories: 99 Mathematics, Computers, Information Science, Management, Law, Miscellaneous
  • Keyword: Real Time Systems
  • Keyword: Computerized Control Systems
  • Keyword: Navigation


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


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


  • Name: UNT Libraries Government Documents Department
    Code: UNTGD

Resource Type

  • Article


  • Text


  • 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


  • Display Note: OSTI as DE99000392