tailieunhanh - Multi-Robot Systems From Swarms to Intelligent Automata - Parker et al (Eds) Part 7

Tham khảo tài liệu 'multi-robot systems from swarms to intelligent automata - parker et al (eds) part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 120 Parker et al. capabilities needed to accomplish each role or subtask. The robot team members can then autonomously select actions using any of a number of common approaches to multi-robot task allocation see Gerkey and Mataric 2004 for a comparison of various task allocation approaches based upon their suitability for the role or subtask as well as the current state of the multi-robot system. The shortcoming of this approach is that the designer has to consider in advance all of the possible combinations of robot capabilities that might be present on a multi-robot team performing a given task and to design cooperative behaviors in light of this advance knowledge. However asdescribedin Parker 2003 the specific robot capabilitiespresent on a team can have a significant impact on the approach a human designer would choose for the team solution. The example given in Parker 2003 is that of deploying a mobile sensor network in which cooperative solutions for the same task could involve potential-field-based dispersion marsupial delivery or assistive navigation depending on the capabilities of the team members. Our research is aimed at overcoming these challenges by designing flexible sensor-sharing mechanisms within robot behavior code that do not require task-specific pre-defined cooperative control solutions and that translate directly into executable code on the robot team members. Some related work in sensor-sharing has led to the development of application-specific solutions that allow a robot team member to serve as a remote viewer of the actions of other teammates providing feedback on the task status to its teammates. In particular this has been illustrated by several researchers in the multi-robot box pushing and material handling domain Gerkey and Mataric 2002 Adams et al. 1995 Spletzer et al. 2001 Donald et al. 1997 in which one or more robots push an object while a remote robot or camera provides a perspective of the task status from a stand-off position.