HELPING INSTEAD OF REPLACING - Towards A Shared Task Allocation Architecture

Foad Ghaderi, Majid Nili Ahmadabadi

Abstract

Some failures cause the robots to loss parts of their capabilities, so that they cannot perform their assigned tasks. Considering requirements of typical robotic teams during different missions, a distributed behavior based control architecture is introduced in this paper. This architecture is based on an enhanced version of ALLIANCE, and provides the robots the ability of performing shared tasks based on help requests. The architecture contains a mechanism for adaptive action selection and a communication protocol for information and task sharing which are required for coordination of team members. The proposed architecture is used in a box pushing mission where heterogeneous robots push several boxes with different masses.

References

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Paper Citation


in Harvard Style

Ghaderi F. and Nili Ahmadabadi M. (2007). HELPING INSTEAD OF REPLACING - Towards A Shared Task Allocation Architecture . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 240-243. DOI: 10.5220/0001630302400243


in Bibtex Style

@conference{icinco07,
author={Foad Ghaderi and Majid Nili Ahmadabadi},
title={HELPING INSTEAD OF REPLACING - Towards A Shared Task Allocation Architecture},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={240-243},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001630302400243},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - HELPING INSTEAD OF REPLACING - Towards A Shared Task Allocation Architecture
SN - 978-972-8865-83-2
AU - Ghaderi F.
AU - Nili Ahmadabadi M.
PY - 2007
SP - 240
EP - 243
DO - 10.5220/0001630302400243