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A Paradigm for Dynamic Coordination of Multiple Robots

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Abstract

In this paper, we present a paradigm for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment. We model this mechanism using a hybrid systems framework and apply it in different cooperative tasks: cooperative manipulation and cooperative search and transportation. Simulations and real experiments demonstrating the effectiveness of the proposed paradigm are presented.

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Authors
  1. Luiz Chaimowicz
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  2. Vijay Kumar
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  3. Mario F. M. Campos
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Chaimowicz, L., Kumar, V. & Campos, M.F.M. A Paradigm for Dynamic Coordination of Multiple Robots. Autonomous Robots 17, 7–21 (2004). https://doi.org/10.1023/B:AURO.0000032935.30271.a5

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  • DOI: https://doi.org/10.1023/B:AURO.0000032935.30271.a5

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