| Title: | Integrated Mission Specification and Task Allocation for Robot Teams - Design and Implementation |
| Author: | Arkin, Ronald C. ; Endo, Yoichiro ; Ulam, Patrick D. ; Wagner, Alan |
| Abstract: | As the capabilities, range of missions, and the size of robot teams increase, the ability for a human operator to account for all the factors in these complex scenarios can become exceedingly difficult. Our previous research has studied the use of case-based reasoning (CBR) tools to assist a user in the generation of multi-robot missions. These tools, however, typically assume that the robots available for the mission are of the same type (i.e., homogeneous). We loosen this assumption through the integration of contract-net protocol (CNP) based task allocation coupled with a CBR-based mission specification wizard. Two alternative designs are explored for combining case-based mission specification and CNP-based team allocation as well as the tradeoffs that result from the selection of one of these approaches over the other. |
| Type: | Paper |
| URI: | http://hdl.handle.net/1853/22717 |
| Date: | 2006 |
| Contributor: | Georgia Institute of Technology. College of Computing |
| Publisher: | Georgia Institute of Technology |
| Subject: |
Case-based reasoning
Contract net protocol Multi-robot missions Task allocation |
| Files | Size | Format | View |
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| UlamEtAlICRA12006.pdf | 863.1Kb |
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