| Title: | Integrated Mission Specification and Task Allocation for Robot Teams - Part 2: Testing and Evaluation |
| Author: | Arkin, Ronald C. ; Endo, Yoichiro ; Ulam, Patrick D. ; Wagner, Alan |
| Abstract: | This work presents the evaluation of two mission specification and task allocation architectures. These architectures, described in part 1 of this paper, present novel means with which to integrate a case-based reasoning (CBR) mission planner with contract net protocol (CNP) based task allocation. In the first design, the CBR and runtime-CNP architecture, the case-based mission planner generates mission plans that support necessary behaviors for CNP-based task allocation and execution. In the second design, the CBR and premission-CNP architecture, task allocation takes place during mission specification. The results of an empirical evaluation of the CBR and runtime-CNP across three naval scenarios is described. Finally, we briefly describe an earlier usability evaluation of the CBR and premission-CNP architecture using goals, operators, methods, and selection rules modeling. |
| Type: | Paper |
| URI: | http://hdl.handle.net/1853/22718 |
| 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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| UlamEtAlICRA22006.pdf | 939.7Kb |
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