Integrated mission specification and task allocation for robot teams - Design and implementation

Patrick Ulam, Yoichiro Endo, Alan Richard Wagner, Ronald Arkin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Scopus citations

Abstract

As the capabilities, range of missions, and the size of robot teams increase, the ability for a human operator to account for all the factors in these complex scenarios can become exceedingly difficult. Our previous research has studied the use of case-based reasoning (CBR) tools to assist a user in the generation of multi-robot missions. These tools, however, typically assume that the robots available for the mission are of the same type (i.e., homogeneous). We loosen this assumption through the integration of contract-net protocol (CNP) based task allocation coupled with a CBR-based mission specification wizard. Two alternative designs are explored for combining case-based mission specification and CNP-based team allocation as well as the tradeoffs that result from the selection of one of these approaches over the other.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages4428-4435
Number of pages8
DOIs
StatePublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Ulam, P., Endo, Y., Wagner, A. R., & Arkin, R. (2007). Integrated mission specification and task allocation for robot teams - Design and implementation. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 4428-4435). [4209779] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.364161