Principled Communication for Dynamic Multi robot Task Allocation
Abstract
In the pursuit of an efficient cooperative multi-robot system, the researcher must eventually answer the question how should robots communicate?; a natural way to attack this question is to decompose it into three simpler corollaries: what should robots communicate?, when should they communicate? and with whom should they communicate?. In this paper, we propose answers to these questions in the form of a general framework for inter-robot communication and, more specifically, advocate its use in dynamic task allocation for teams of cooperative mobile robots. We base our communication model on publish/subscribe messaging and validate our system by using it in a tightly-coupled multi-robot manipulation task and a loosely-coupled long-term experiment involving many robots concurrently executing different tasks.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 2001
- Accession Number
- AD1022036
Entities
People
- Brian P. Gerkey
- Maja Matarić
Organizations
- University of Southern California