Embedding heterogeneous levels of decisional autonomy in multi-robot systems
This paper presents an architecture for multi-robot (MR) systems in which robots exhibit heterogeneousness in terms of autonomous decisional capacities. This architecture enables various configurations of decision distribution among the components of the system, according both to the available decision making capabilities of the robots, and to the operational constraints related to the tasks to be performed. This architecture is instanciated in the context of a multi heterogeneous Unmanned Aerial Vehicles (UAV) project, and in this context, details related to a generic executive (supporting the versatility of the architecture) are provided.
KeywordsUnmanned Aerial Vehicle Task Allocation Decisional Autonomy Elementary Task Synchronization Task
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