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Authors: Edward Newett and Ashraf Saad

Affiliation: Georgia Institute of Technology, School of Electrical and Computer Engineering, United States

Abstract: One of the inherent issues in team-based multiagent robotics is coordinating a cooperative task decomposition. Use of explicit communication models or game theoretic approaches to model teammate behaviors can be costly and error-prone. This paper describes a method of discovering a set of behaviors that allows a team to intrisically function in a collaborative manner. Probabilistic plan- ners based on spreading activation networks that determine these behaviors are implemented in each robot. A genetic algorithm is used to find the appropriate link strengths within each of these networks to produce an overall dynamic team. It is shown that a team controlled by spreading activation networks can perform well as a team by maintaining these behaviors in environmental situations other than the one used for GA evolution. From this framework, a goal-directed task planning approach can be envisioned to deploy a fully functional robot team.

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Paper citation in several formats:
Newett, E. and Saad, A. (2005). A Hybrid Evolutionary Probablistic Framework for Developing Robotic Team Behaviors. In Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS; ISBN 972-8865-34-1, SciTePress, pages 88-101. DOI: 10.5220/0001196500880101

@conference{mars05,
author={Edward Newett. and Ashraf Saad.},
title={A Hybrid Evolutionary Probablistic Framework for Developing Robotic Team Behaviors},
booktitle={Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS},
year={2005},
pages={88-101},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001196500880101},
isbn={972-8865-34-1},
}

TY - CONF

JO - Proceedings of the 1st International Workshop on Multi-Agent Robotic Systems (ICINCO 2005) - MARS
TI - A Hybrid Evolutionary Probablistic Framework for Developing Robotic Team Behaviors
SN - 972-8865-34-1
AU - Newett, E.
AU - Saad, A.
PY - 2005
SP - 88
EP - 101
DO - 10.5220/0001196500880101
PB - SciTePress