Multi-robot control in highly dynamic, competitive environments

Ball, David and Wyeth, Gordon (2004). Multi-robot control in highly dynamic, competitive environments. In: D. Polani, B. Browning, A. Bonarini and K. Yoshida, RoboCup 2003: Robot Soccer World Cup VII. The RoboCup 2003 International Symposium, Padua, Italy, (385-396). 10-11 July 2003.


Author Ball, David
Wyeth, Gordon
Title of paper Multi-robot control in highly dynamic, competitive environments
Conference name The RoboCup 2003 International Symposium
Conference location Padua, Italy
Conference dates 10-11 July 2003
Proceedings title RoboCup 2003: Robot Soccer World Cup VII   Check publisher's open access policy
Journal name Robocup 2003: Robot Soccer World Cup VII   Check publisher's open access policy
Place of Publication Berlin, Germany
Publisher Springer
Publication Year 2004
Sub-type Fully published paper
ISBN 978-3-540-22443-3
3-540-22443-2
ISSN 0302-9743
Editor D. Polani
B. Browning
A. Bonarini
K. Yoshida
Volume 3020
Start page 385
End page 396
Total pages 12
Collection year 2004
Language eng
Abstract/Summary The control and coordination of multiple mobile robots is a challenging task; particularly in environments with multiple, rapidly moving obstacles and agents. This paper describes a robust approach to multi-robot control, where robustness is gained from competency at every layer of robot control. The layers are: (i) a central coordination system (MAPS), (ii) an action system (AES), (iii) a navigation module, and (iv) a low level dynamic motion control system. The multi-robot coordination system assigns each robot a role and a sub-goal. Each robot’s action execution system then assumes the assigned role and attempts to achieve the specified sub-goal. The robot’s navigation system directs the robot to specific goal locations while ensuring that the robot avoids any obstacles. The motion system maps the heading and speed information from the navigation system to force-constrained motion. This multi-robot system has been extensively tested and applied in the robot soccer domain using both centralized and distributed coordination.
Subjects E1
290301 Robotics and Mechatronics
780199 Other
Q-Index Code E1
Additional Notes Series title: Lecture Notes in Computer Science; Sub-series: Lecture Notes in Artificial Intelligence

 
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Created: Thu, 23 Aug 2007, 19:44:05 EST