Towards Dynamic Team Formation for Robot Ensembles
We present an investigation of dynamic team formation strategies for robot ensembles performing a collection of single and two-robot tasks. Specifically, we consider the abstract “stick and pebble” problem, as a variation of the “stick pulling” problem discussed in the literature. We present a formu...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2011
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| Online Access: | http://hdl.handle.net/1721.1/65554 https://orcid.org/0000-0002-0505-1400 |
| _version_ | 1826202240166133760 |
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| author | Mather, T. William Hsieh, M. Ani Frazzoli, Emilio |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Mather, T. William Hsieh, M. Ani Frazzoli, Emilio |
| author_sort | Mather, T. William |
| collection | MIT |
| description | We present an investigation of dynamic team formation strategies for robot ensembles performing a collection of single and two-robot tasks. Specifically, we consider the abstract “stick and pebble” problem, as a variation of the “stick pulling” problem discussed in the literature. We present a formulation of the dynamic team formation problem that is independent of ensemble size and develop a macroscopic analytical description of the ensemble dynamics. The macroscopic model is then used to determine the optimal teaming strategy for two different performance metrics. We present agent-based simulation results to support the validity of our macroscopic analysis. |
| first_indexed | 2024-09-23T12:04:24Z |
| format | Article |
| id | mit-1721.1/65554 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T12:04:24Z |
| publishDate | 2011 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/655542022-09-27T23:53:16Z Towards Dynamic Team Formation for Robot Ensembles Mather, T. William Hsieh, M. Ani Frazzoli, Emilio Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Frazzoli, Emilio Frazzoli, Emilio We present an investigation of dynamic team formation strategies for robot ensembles performing a collection of single and two-robot tasks. Specifically, we consider the abstract “stick and pebble” problem, as a variation of the “stick pulling” problem discussed in the literature. We present a formulation of the dynamic team formation problem that is independent of ensemble size and develop a macroscopic analytical description of the ensemble dynamics. The macroscopic model is then used to determine the optimal teaming strategy for two different performance metrics. We present agent-based simulation results to support the validity of our macroscopic analysis. 2011-08-30T19:02:47Z 2011-08-30T19:02:47Z 2010-07 2010-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-5038-1 1050-4729 INSPEC Accession Number: 11431316 http://hdl.handle.net/1721.1/65554 Mather, T.W., M.A. Hsieh, and E. Frazzoli. “Towards Dynamic Team Formation for Robot Ensembles.” Robotics and Automation (ICRA), 2010 IEEE International Conference On. 2010. 4970-4975. © Copyright 2010 IEEE https://orcid.org/0000-0002-0505-1400 en_US http://dx.doi.org/10.1109/ROBOT.2010.5509490 2010 IEEE International Conference on Robotics and Automation (ICRA) Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Mather, T. William Hsieh, M. Ani Frazzoli, Emilio Towards Dynamic Team Formation for Robot Ensembles |
| title | Towards Dynamic Team Formation for Robot Ensembles |
| title_full | Towards Dynamic Team Formation for Robot Ensembles |
| title_fullStr | Towards Dynamic Team Formation for Robot Ensembles |
| title_full_unstemmed | Towards Dynamic Team Formation for Robot Ensembles |
| title_short | Towards Dynamic Team Formation for Robot Ensembles |
| title_sort | towards dynamic team formation for robot ensembles |
| url | http://hdl.handle.net/1721.1/65554 https://orcid.org/0000-0002-0505-1400 |
| work_keys_str_mv | AT mathertwilliam towardsdynamicteamformationforrobotensembles AT hsiehmani towardsdynamicteamformationforrobotensembles AT frazzoliemilio towardsdynamicteamformationforrobotensembles |