Toward Distributing Autonomy over Robot Teams

Anthony Barrett

This paper presents a way to command a team of robots robustly as a single entity. Instead of modeling each component system in isolation and then manually crafting interaction protocols, this approach starts with a model of the collective population as a single system. By compiling the model into separate elements for each robot and utilizing a teamwork model for coordination, it circumvents the complexities of manually crafting robust interaction protocols. The resulting system is both globally responsive by virtue of a team oriented interaction model and locally responsive by virtue of a distributed approach to planning as well as model-based fault detection, isolation, and recovery.

Subjects: 7. Distributed AI; 16. Real-Time Systems


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