Summary
In this paper, we propose a general framework, DEMiR-CF, for a multi-robot team to achieve a complex mission including inter-related tasks that require diverse capabilities and/or simultaneous executions. Our framework integrates a distributed task allocation scheme, cooperation mechanisms and precaution routines for multi-robot team execution. Its performance has been demonstrated in NavalMine Countermeasures, Multi-robotMulti-Target Exploration and Object Construction domains. The framework not only ensures near-optimal solutions for task achievement but also efficiently responds to real time contingencies.
Sanem Sariel is also affiliated with Georgia Institute of Technology
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© 2006 Springer-Verlag Tokyo
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Sariel, S., Balch, T. (2006). A Distributed Multi-robot Cooperation Framework for Real Time Task Achievement. In: Gini, M., Voyles, R. (eds) Distributed Autonomous Robotic Systems 7. Springer, Tokyo. https://doi.org/10.1007/4-431-35881-1_19
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DOI: https://doi.org/10.1007/4-431-35881-1_19
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-35878-7
Online ISBN: 978-4-431-35881-7
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