Abstract
While various researchers have investigated group behavior of robots which are each controlled in a behavior-based manner, none have yet thoroughly investigated the possibilities of extending the port-arbitrated behavior (PAB) paradigm across networks of robots. We present an extension to the well-defined PAB techniques of behavioral interaction which provides standard abstractions for messaging, inhibition, and suppression over IP networks. The Broadcast of Local Eligibility is a general technique built from these abstractions that allows fully-distributed, flexible team coordination. We present a BLE approach to the CMOMMT multi-target observation problem, implemented on a team of physical robots.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
T. Balch and R. Arkin. Behavior-based formation control for multi-robot teams. IEEE Transactions on Robotics and Automation ,December 1998.
R. A. Brooks. Cambrian Intelligence. MIT Press, 1999.
Miguel Schneider Fontán and Maja J. Matari. A study of territoriality: the role of critical mass in adaptive task division. In Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior ,Cape Cod, September 1996.
Dani Goldberg and Maja J Matari. Interference as a tool for designing and evaluating multi-robot controllers. In Proceedings of AAAI-97 ,pages 637–642, Providence, RI, July 1996.
Owen Holland and Chris Melhuish. Stigmergy, self-organisation, and sorting in collective robotics. Artificial Life ,5:2, 2000.
Maja J Matari. Designing and understanding adaptive group behavior. Adaptive Behavior ,4:1:51–80, December 1995.
L. E. Parker. Alliance: An architecture for fault tolerant multi-robot cooperation. IEEE Transactions on Robotics and Automation ,14, 1998.
L. E. Parker. Cooperative robotics for multi-target observation. Intelligent Automation and Soft Computing ,5:5–19, 1999.
J. Salido, J. M. Dolan, J. Hampshire, and P. Khosla. A modified reactive control framework for cooperative mobile robots. In Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, Proceedings of SPIE 3209 ,1997.
Z.-D. Wang, E. Nakano, and T. Matsukawa. Designing behavior of a mult-robot system for cooperative object manipulation. In Proceedings of the International Symposium on Microsystems, Intelligent Materials, and Robots ,1995.
Barry B. Werger. Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams. Artificial Intelligence ,110:293–320, 1999.
Barry Brian Werger. Ayllu: Distributed port-arbitrated behavior-based control. In Proceedings of DARS ,2000.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer-Verlag Tokyo
About this chapter
Cite this chapter
Werger, B.B., Matarić, M.J. (2000). Broadcast of Local Eligibility for Multi-Target Observation. In: Parker, L.E., Bekey, G., Barhen, J. (eds) Distributed Autonomous Robotic Systems 4. Springer, Tokyo. https://doi.org/10.1007/978-4-431-67919-6_33
Download citation
DOI: https://doi.org/10.1007/978-4-431-67919-6_33
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-67991-2
Online ISBN: 978-4-431-67919-6
eBook Packages: Springer Book Archive