Dynamic Role Assignment for Cooperative Robots (2002)
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| Venue: | In Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA |
| Citations: | 35 - 4 self |
BibTeX
@INPROCEEDINGS{Chaimowicz02dynamicrole,
author = {Luiz Chaimowicz and Mario F. M. Campos and Vijay Kumar},
title = {Dynamic Role Assignment for Cooperative Robots},
booktitle = {In Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA},
year = {2002},
pages = {293--298}
}
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Abstract
This paper proposes a new methodology for coordinating multi-robot teams in the execution of cooperative tasks. It is based on a dynamic role assign- ment mechanism in which the robots assume and ex- change roles during cooperation. We model the role assignment under a hybrid systems framework, using a hybrid automaton to represent roles, transitions and controllers. Using a multi-robot simulator, the methodology is demonstrated in a cooperative transportation task, in which a group of robots must find and cooperatively transport several objects scattered in the environment.
