Heterogeneous Multi-Robot Cooperation
This report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates robust, fault tolerant, reliable, and adaptive cooperative control. In additio...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/7056 |
| _version_ | 1826213834923180032 |
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| author | Parker, Lynne E. |
| author_facet | Parker, Lynne E. |
| author_sort | Parker, Lynne E. |
| collection | MIT |
| description | This report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates robust, fault tolerant, reliable, and adaptive cooperative control. In addition, an extended version of ALLIANCE, called L-ALLIANCE, is described, which incorporates a dynamic parameter update mechanism that allows teams of mobile robots to improve the efficiency of their mission performance through learning. A number of experimental results of implementing these architectures on both physical and simulated mobile robot teams are described. In addition, this report presents the results of studies of a number of issues in mobile robot cooperation, including fault tolerant cooperative control, adaptive action selection, distributed control, robot awareness of team member actions, improving efficiency through learning, inter-robot communication, action recognition, and local versus global control. |
| first_indexed | 2024-09-23T15:55:34Z |
| id | mit-1721.1/7056 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:55:34Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/70562019-04-10T11:52:28Z Heterogeneous Multi-Robot Cooperation Parker, Lynne E. This report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates robust, fault tolerant, reliable, and adaptive cooperative control. In addition, an extended version of ALLIANCE, called L-ALLIANCE, is described, which incorporates a dynamic parameter update mechanism that allows teams of mobile robots to improve the efficiency of their mission performance through learning. A number of experimental results of implementing these architectures on both physical and simulated mobile robot teams are described. In addition, this report presents the results of studies of a number of issues in mobile robot cooperation, including fault tolerant cooperative control, adaptive action selection, distributed control, robot awareness of team member actions, improving efficiency through learning, inter-robot communication, action recognition, and local versus global control. 2004-10-20T20:24:10Z 2004-10-20T20:24:10Z 1994-02-01 AITR-1465 http://hdl.handle.net/1721.1/7056 en_US AITR-1465 61755305 bytes 13187303 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Parker, Lynne E. Heterogeneous Multi-Robot Cooperation |
| title | Heterogeneous Multi-Robot Cooperation |
| title_full | Heterogeneous Multi-Robot Cooperation |
| title_fullStr | Heterogeneous Multi-Robot Cooperation |
| title_full_unstemmed | Heterogeneous Multi-Robot Cooperation |
| title_short | Heterogeneous Multi-Robot Cooperation |
| title_sort | heterogeneous multi robot cooperation |
| url | http://hdl.handle.net/1721.1/7056 |
| work_keys_str_mv | AT parkerlynnee heterogeneousmultirobotcooperation |