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Dynamic Task Selection: A Simple Structure for Multirobot Systems

  • Poj Tangamchit
  • John M. Dolan
  • Pradeep K. Khosla
Chapter

Abstract

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.

Keywords

Task Allocation Dynamic Task Hybrid Architecture Task Decomposition Simple Architecture 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. 1.
    Y.U. Cao, A.S. Fukunaga, A.B. Khang (1997) Cooperative Mobile Robotics: Antecedents and Directions, Autonomous Robots, 4, 1–23 Kluwer Academic PublishersCrossRefGoogle Scholar
  2. 2.
    L. Parker (1994) Heterogeneous Multi-Robot Cooperation PhD. Thesis, Dept. of Electrical Eng. and Computer Science MITGoogle Scholar

Copyright information

© Springer-Verlag Tokyo 2000

Authors and Affiliations

  • Poj Tangamchit
    • 1
  • John M. Dolan
    • 2
  • Pradeep K. Khosla
    • 1
    • 2
  1. 1.Dept. of Electrical and Computer EngineeringCarnegie Mellon Univ.PittsburghUSA
  2. 2.The Robotics InstituteCarnegie Mellon Univ.PittsburghUSA

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