On the response of EMT-based control to interacting targets and models

ABSTRACT

A novel control mechanism was recently introduced based on Extended Markov Tracking (EMT) [9, 10]. In this paper, we present a study of its response to multiple interacting control goals. We show a simple extension that can be integrated into EMT-based control, and which provides it with the ability to handle several behavioral targets. Experimental support for the validity of this extension is provided. We also describe an experiment with a simulated robot, where EMT-based controllers interact and interfere indirectly via the environment. Experiments support the resilience of multiagent EMT-based team control to potential conflicts that may appear within a team.

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INDEX TERMS

Primary Classification:
  I. Computing Methodologies
  I.2 ARTIFICIAL INTELLIGENCE
      I.2.8 Problem Solving, Control Methods, and Search
          Subjects: Control theory

Additional Classification:
  I. Computing Methodologies
  I.2 ARTIFICIAL INTELLIGENCE
        I.2.11 Distributed Artificial Intelligence
            Subjects: Multiagent systems; Intelligent agents
      I.2.9 Robotics

General Terms:
Algorithms, Performance

Keywords:
autonomous robots and robot teams, control, extended markov tracking, markovian environment