Integrated Mission Specification and Task Allocation for Robot Teams - Part 1: Design and Implementation

Abstract

As the capabilities, range of missions, and the size of robot teams increase, the ability for a human operator to account for all the factors in these complex scenarios can become exceedingly difficult. Our previous research has studied the use of case-based reasoning (CBR) tools to assist a user in the generation of multi-robot missions. These tools, however, typically assume that the robots available for the mission are of the same type (i.e., homogeneous). We loosen this assumption through the integration of contract-net protocol (CNP) based task allocation coupled with a CBR-based mission specification wizard. Two alternative designs are explored for combining case-based mission specification and CNP-based team allocation as well as the tradeoffs that result from the selection of one of these approaches over the other.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA457296

Entities

People

  • Alan Wagner
  • Patrick Ulam
  • Ronald Arkin
  • Yochiro Endo

Organizations

  • Georgia Tech

Tags

Communities of Interest

  • Autonomy
  • Counter WMD
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Cartography
  • Command And Control
  • Contracts
  • Demographic Cohorts
  • Deployment
  • Environment
  • Explosives Initiators
  • Graphical User Interface
  • High Altitude
  • Naval Vessels
  • Specifications
  • Standards
  • Unmanned Aerial Vehicles
  • Unmanned Underwater Vehicles
  • Unmanned Vehicles
  • User Interface
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Distributed Systems and Data Platform Development
  • Software Engineering

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Human-Robot Interaction