Adaptive multi-robot coordination based on resource spending velocity

ABSTRACT

Multi-robot systems researchers have been investigating coordination methods for improving spatial coordination in teams [2]. Such methods attempt to resolve spatial conflicts between team-members, e.g., by dynamic setting of right-of-way priorities [3], or territorial separation [1]. It is accepted that no one method is always best [2], and that all methods reach a point where adding robots to the group (i.e., increasing the density of the robots in space) reduces overall productivity [1].

REFERENCES

• 1: M. Fontan and M. Matarić. Territorial multi-robot task division. IEEE Transactions of Robotics and Automation, 14(5):815--822, 1998.
• 2: Avi Rosenfeld , Gal A. Kaminka , Sarit Kraus , Onn Shehory, A study of mechanisms for improving robotic group performance, Artificial Intelligence, v.172 n.6-7, p.633-655, April, 2008 [doi>10.1016/j.artint.2007.09.008]
• 3: M. Zuluaga and R. Vaughan. Reducing spatial interference in robot teams by local-investment aggression. In IROS, Edmonton, Alberta, August 2005.

INDEX TERMS

Primary Classification:
  I. Computing Methodologies
  I.2 ARTIFICIAL INTELLIGENCE
        I.2.11 Distributed Artificial Intelligence
            Subjects: Coherence and coordination

Additional Classification:
  I. Computing Methodologies
  I.2 ARTIFICIAL INTELLIGENCE
        I.2.11 Distributed Artificial Intelligence
            Subjects: Multiagent systems
      I.2.9 Robotics
  I.6 SIMULATION AND MODELING
      I.6.4 Model Validation and Analysis
      I.6.5 Model Development
          Subjects: Modeling methodologies

General Terms:
Algorithms, Design, Management, Theory