Abstract
This paper presents an architecture that enables multiple robots to explicitly coordinate actions at multiple levels of abstraction. In particular, we are developing an extension to the traditional three-layered robot architecture that enables robots to interact directly at each layer — at the behavioral level, the robots create distributed control loops; at the executive level, they synchronize task execution; at the planning level, they use market-based techniques to assign tasks, form teams, and allocate resources. We illustrate these ideas through applications in multi-robot assembly, multi-robot deployment, and multi-robot mapping.
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Simmons, R. et al. (2002). A Layered Architecture for Coordination of Mobile Robots. In: Schultz, A.C., Parker, L.E. (eds) Multi-Robot Systems: From Swarms to Intelligent Automata. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-2376-3_11
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DOI: https://doi.org/10.1007/978-94-017-2376-3_11
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6046-4
Online ISBN: 978-94-017-2376-3
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