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A Distributed Multi-robot Cooperation Framework for Real Time Task Achievement

  • Sanem Sariel
  • Tucker Balch

Summary

In this paper, we propose a general framework, DEMiR-CF, for a multi-robot team to achieve a complex mission including inter-related tasks that require diverse capabilities and/or simultaneous executions. Our framework integrates a distributed task allocation scheme, cooperation mechanisms and precaution routines for multi-robot team execution. Its performance has been demonstrated in NavalMine Countermeasures, Multi-robotMulti-Target Exploration and Object Construction domains. The framework not only ensures near-optimal solutions for task achievement but also efficiently responds to real time contingencies.

Keywords

Task Allocation Task Execution Task Achievement Mission Task Simultaneous Execution 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Tokyo 2006

Authors and Affiliations

  • Sanem Sariel
    • 1
  • Tucker Balch
    • 2
  1. 1.Department of Computer EngineeringIstanbul Technical UniversityIstanbulTurkey
  2. 2.College of Computing DepartmentGeorgia Institute of TechnologyAtlantaUSA

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