Probabilistic world modelling for distributed team planning

Chang, M. M. and Wyeth, G.F. (2004). Probabilistic world modelling for distributed team planning. In: H. Asama, Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems. The 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, (1426-1431). 28 September-2 October, 2004.


Author Chang, M. M.
Wyeth, G.F.
Title of paper Probabilistic world modelling for distributed team planning
Conference name The 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems
Conference location Sendai, Japan
Conference dates 28 September-2 October, 2004
Proceedings title Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of Publication Piscataway, NJ
Publisher The Institute of Electrical and Electronics Engineers
Publication Year 2004
Sub-type Fully published paper
ISBN 0-7803-8463-6
Editor H. Asama
Volume 1
Start page 1426
End page 1431
Total pages 6
Collection year 2004
Abstract/Summary This paper describes an application of decoupled probabilistic world modeling to achieve team planning. The research is based on the principle that tbe action selection mechanism of a member in a robot team cm select am effective action if a global world model is available to all team members. In the real world, the sensors are imprecise, and are individual to each robot, hence providing each robot a partial and unique view about the environment. We address this problem by creating a probabilistic global view on each agent by combining the perceptual information from each robot. This probsbilistie view forms the basis for selecting actions to achieve the team goal in a dynamic environment. Experiments have been carried ont to investigate the effectiveness of this principle using custom-built robots for real world performance, in addition, to extensive simulation results. The results show an improvement in team effectiveness when using probabilistic world modeling based on perception sharing for team planning.
Subjects E1
290301 Robotics and Mechatronics
780199 Other
Q-Index Code E1

 
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Created: Thu, 23 Aug 2007, 19:46:32 EST