Dynamic Role Assignment for Cooperative Robots

Proposes a methodology for coordinating multi-robot teams in the execution of cooperative tasks. It is based on a dynamic role-assignment mechanism in which the robots assume and exchange roles during cooperation. We model the role assignment under a hybrid systems framework, using a hybrid automaton to represent roles, transitions and controllers. Using a multi-robot simulator, the methodology is demonstrated in a cooperative transportation task, in which a group of robots must find and cooperatively transport several objects scattered in the environment.

Authors

• Luiz Chaimowicz
• Mario F. M. Campos
• Vijay Kumar 0001

Keywords

• Robot kinematics
• Robotics and automation
• Automata
• Automatic control
• Scattering
• Laboratories
• Organizing
• Robustness
• Multiagent systems
• Fault tolerance
• Dynamic Assignment
• Cooperative Robots
• Task Execution
• Hybrid System
• Robotic Group
• Environmental Effects
• Internal State
• Team Sports
• Control Mode
• Deadlock
• Switching Control
• Task Allocation
• Broadcast Messages