Dynamic Task Selection: A Simple Structure for Multirobot Systems
We present a simple architecture capable of use in a wide variety of applications by focusing on basic principles of efficient decentralized operation. The resulting robust architecture is called dynamic task selection. We present an experiment that shows the ability of the system to work properly when some robots fail. It also shows the ability to add new robots dynamically while other robots are already performing a mission.
KeywordsTask Allocation Dynamic Task Hybrid Architecture Task Decomposition Simple Architecture
- 2.L. Parker (1994) Heterogeneous Multi-Robot Cooperation PhD. Thesis, Dept. of Electrical Eng. and Computer Science MITGoogle Scholar