An efficient coordination architecture for autonomous robot teams

Aaron Khoo*, Ian D Horswill

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations

Abstract

Most physically implemented multi-robot controllers are based on extensions of behavior-based systems. While efficient, such techniques suffer from a paucity of representational power. Symbolic systems, on the other hand, have more sophisticated representations but are computationally complex and have model coherency issues. In this paper, we describe HIVEMind, a tagged behavior-based architecture for small teams of cooperative robots. In HIVEMind, robots share inferences and sensory data by treating other team members as virtual sensors connected by wireless links. A novel representation based on bit-vectors allows team members to share intentional, attentional, and sensory information using relatively low-bandwidth connections. We describe an application of the architecture to the problem of systematic spatial search.

Original languageEnglish (US)
Pages (from-to)287-292
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Jan 1 2002
Event2002 IEEE International Conference on Robotics and Automation - Washington, DC, United States
Duration: May 11 2002May 15 2002

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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