Grounding inference in distributed multi-robot environments

Aaron Khoo*, Ian D Horswill

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

5 Scopus citations


Traditional symbolic reasoning systems are typically built on a transaction model of computation, which complicates the process of synchronizing their world models with changes in a dynamic environment. This problem is exacerbated in the multi-robot case, where there are now n world models keep in synch. In this paper, we describe an inference grounding and coordination mechanism for robot teams based on tagged behavior-based systems. This approach supports a large subset of classical AI techniques while providing a novel representation that allows team members to share information efficiently. We illustrate our approach on two problems involving systematic spatial search.

Original languageEnglish (US)
Pages (from-to)121-132
Number of pages12
JournalRobotics and Autonomous Systems
Issue number2-3
StatePublished - May 31 2003
EventPerceptual Anchoring: Anchoring Symbols to Sensor Data in Sing - North Falmouth, MA, United States
Duration: Nov 2 2001Nov 4 2001


  • Autonomous mobile robots
  • Behavior-based control
  • Multi-robot teams

ASJC Scopus subject areas

  • Software
  • General Mathematics
  • Control and Systems Engineering
  • Computer Science Applications


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