Integrated Mission Specification and Task Allocation for Robot Teams - Design and Implementation

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/22717

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

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