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.
CITATION STYLE
Alami, R., & Bothelho, S. S. da C. (2002). Plan-based multi-robot cooperation. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2466, pp. 1–20). Springer Verlag. https://doi.org/10.1007/3-540-37724-7_1
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