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Plan-Based Multi-robot Cooperation

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Advances in Plan-Based Control of Robotic Agents

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 2466))

Abstract

Several issues arise if one wants to operate a team of autonomous robots to achieve complex missions. The problems range from mission planning taking into account the different robots capabilities to conflict free execution.

This paper presents a general architecture for multi-robot cooperation whose interest stems from its ability to provide a framework for cooperative decisional processes at different levels: mission decomposition and high level plan synthesis, task allocation and task achievement.

This architecture serves as a framework for two cooperative schemes that we have developed: M+NTA for Negotiation for Task Allocation, and M+CTA for Cooperative Task Achievement.

The overall system has been completely implemented and run on various realistic examples. It showed effective ability to endow the robots with adaptive auto-organization at different levels. A number of performance measures have been performed on simulation runs to quantify the relevance of the different cooperative skills that have been proposed.

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Author information

Authors and Affiliations

  1. LAAS-CNRS, 7, Avenue du Colonel Roche, 31077, Toulouse Cedex 4, France

    Rachid Alami

  2. FURG, Av. Italia Km 8, 96201-000, Rio Grande/RS, Brazil

    Silvia Silva da Costa Bothelho

Authors
  1. Rachid Alami
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  2. Silvia Silva da Costa Bothelho
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Editor information

Editors and Affiliations

  1. Institut für Informatik IX, Technische Universität München, Orleansstr. 34, 81667, München, Germany

    Michael Beetz

  2. Fraunhofer-Institut, Autonome Intelligente Systeme (AIS), Schloss Birlinghoven, 53754, Sankt Augustin, Germany

    Joachim Hertzberg

  3. LAAS-CNRS, 7, Avenue du Colonel Roche, 31077, Toulouse cedex, France

    Malik Ghallab

  4. College of Engineering Dept. of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, 48019, USA

    Martha E. Pollack

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© 2002 Springer-Verlag Berlin Heidelberg

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Alami, R., da Costa Bothelho, S.S. (2002). Plan-Based Multi-robot Cooperation. In: Beetz, M., Hertzberg, J., Ghallab, M., Pollack, M.E. (eds) Advances in Plan-Based Control of Robotic Agents. Lecture Notes in Computer Science(), vol 2466. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-37724-7_1

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  • DOI: https://doi.org/10.1007/3-540-37724-7_1

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00168-3

  • Online ISBN: 978-3-540-37724-5

  • eBook Packages: Springer Book Archive

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