An Approach for Task Execution in Dynamic Multirobot Environment
In this paper we consider the problem of task execution in dynamic environments. We introduce a formal framework of a dynamic environment, and model the behavior of the robots using communicating automata. Based on the model we suggest a distributed approach for task execution that can handle multiple tasks that arrive at same instant of time. We have implemented the approach using ARGoS–a multirobot simulator.
KeywordsDynamic environment Robots Task execution ARGoS