Exploiting Redundancy to Implement Multi-Objective Behavior

Abstract

Teams of robots can be redundant with respect to a given task. This redundancy can be exploited to pursue additional objectives during the execution of the task. in this paper, the authors describe a control-based method to exploit such redundancy for the execution of additional behavior, leading to the improvement of overall performance. The control-based method provides a suitable mechanism for combining controllers with different objectives. The mechanism ensures that the subordinate controllers do not interfere with superior controllers. Thus, it allows one to build controllers exhibiting complex behavior from simple primitives, while maintaining their provable performance characteristics. The effectiveness of the framework is demonstrated by experiments with a multi-robot exploration task.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA439658

Entities

People

  • Oliver Brock
  • Roderic A. Grupen
  • Yuandong Yang

Organizations

  • University of Massachusetts Amherst

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Abstracts
  • Communication Networks
  • Computer Science
  • Detectors
  • Environment
  • Equations
  • Information Operations
  • Infrared Detectors
  • Learning
  • Line Of Sight
  • Notation
  • Radio Signals
  • Redundancy
  • Reinforcement Learning
  • Robots
  • Standards
  • Task Performance And Analysis

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Team-Based Human-Centered Cognitive Task Decision Making and Information Performance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control