Grounding inference in distributed multi-robot environments

Aaron Khoo; Ian D Horswill

doi:10.1016/S0921-8890(02)00354-8

Grounding inference in distributed multi-robot environments

Aaron Khoo^*, Ian D Horswill

^*Corresponding author for this work

Computer Science

Research output: Contribution to journal › Conference article › peer-review

5 Scopus citations

Abstract

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 language	English (US)
Pages (from-to)	121-132
Number of pages	12
Journal	Robotics and Autonomous Systems
Volume	43
Issue number	2-3
DOIs	https://doi.org/10.1016/S0921-8890(02)00354-8
State	Published - May 31 2003
Event	Perceptual Anchoring: Anchoring Symbols to Sensor Data in Sing - North Falmouth, MA, United States Duration: Nov 2 2001 → Nov 4 2001

Keywords

Autonomous mobile robots
Behavior-based control
Multi-robot teams

ASJC Scopus subject areas

Control and Systems Engineering
Software
Mathematics(all)
Computer Science Applications

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title = "Grounding inference in distributed multi-robot environments",

abstract = "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.",

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T1 - Grounding inference in distributed multi-robot environments

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AU - Horswill, Ian D

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AB - 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.

KW - Autonomous mobile robots

KW - Behavior-based control

KW - Multi-robot teams

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M3 - Conference article

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VL - 43

SP - 121

EP - 132

JO - Robotics and Autonomous Systems

JF - Robotics and Autonomous Systems

SN - 0921-8890

IS - 2-3

T2 - Perceptual Anchoring: Anchoring Symbols to Sensor Data in Sing

Y2 - 2 November 2001 through 4 November 2001

ER -

Grounding inference in distributed multi-robot environments

Abstract

Keywords

ASJC Scopus subject areas

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