A distributed multi-robot cooperation framework for real time task achievement

Sanem Sariel, Tucker Balch

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

36 Citations (Scopus)

Abstract

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 Naval Mine Countermeasures, Multi-robot Multi-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.

Original languageEnglish
Title of host publicationDistributed Autonomous Robotic Systems 7
PublisherSpringer Publishing Company
Pages187-196
Number of pages10
ISBN (Print)4431358781, 9784431358787
DOIs
Publication statusPublished - 2006
Event8th Symposium on Distributed Autonomous Robotic Systems, DARS 2008 - Minneapolis, St. Paul, MN, United States
Duration: 12 Jul 200614 Jul 2006

Publication series

NameDistributed Autonomous Robotic Systems 7

Conference

Conference8th Symposium on Distributed Autonomous Robotic Systems, DARS 2008
Country/TerritoryUnited States
CityMinneapolis, St. Paul, MN
Period12/07/0614/07/06

Fingerprint

Dive into the research topics of 'A distributed multi-robot cooperation framework for real time task achievement'. Together they form a unique fingerprint.

Cite this