multirobot-auction

multirobot-auction - Robust Multirobot Coordination in...

Info iconThis preview shows pages 1–2. Sign up to view the full content.

View Full Document Right Arrow Icon
Robust Multirobot Coordination in Dynamic Environments M. Bernardine Dias, Marc Zinck, Robert Zlot, and Anthony (Tony) Stentz The Robotics Institute Carnegie Mellon University Pittsburgh, USA {mbdias, mbz, robz, axs}@ri.cmu.edu Abstract — Robustness is crucial for any robot team, especially when operating in dynamic environments. The physicality of robotic systems and their interactions with the environment make them highly prone to malfunctions of many kinds. Three principal categories in the possible space of robot malfunctions are communication failures, partial failure of robot resources necessary for task execution (or partial robot malfunction), and complete robot failure (or robot death). This paper addresses these three categories and explores means by which the TraderBots approach ensures robustness and promotes graceful degradation in team performance when faced with malfunctions. Keywords-multirobot coordination; robustness; dynamic environments; communication failures; partial malfunctions; robot death; market-based. I. INTRODUCTION Many multirobot applications demand some level of robustness to malfunctions. The requirement for robustness becomes increasingly important when the application domain requires the robots to interact within a highly dynamic environment, and where prior information about the environment is sparse. Applications such as urban reconnaissance, urban search and rescue, planetary exploration, and hazardous cleanup inherently include hazardous conditions that will cause robotic malfunctions with high probability. Key to the success of these applications is the team’s ability to gracefully degrade their performance and maximize the efficiency with which the available resources are used to complete the task. Multirobot coordination approaches deal with malfunctions in different ways. The three main categories of malfunctions, and multirobot coordination approaches that account for these malfunctions are explored next. A. Communication Failures Communication failures are abundant in many application domains. These failures can vary from occasional loss of messages to complete loss of communication. Different approaches handle losses in communication using a variety of strategies. As described by Balch and Arkin [1], some approaches forego communication altogether and robots make action decisions entirely independent of decisions made by teammates. Other approaches forego explicit communication, but instead, coordinate team actions by basing action selection on observed environmental clues [1], anticipated actions of teammates [13], socially attentive monitoring of teammates [7], or pre-defined rules, triggered by environmental cues or observation of specific team formations or actions [11]. None of these coordination approaches are affected by failures in communication. However, they are also unable to effectively use information that can improve team performance if shared with teammates. Vail and Veloso [13] show that teams can
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Image of page 2
This is the end of the preview. Sign up to access the rest of the document.

Page1 / 8

multirobot-auction - Robust Multirobot Coordination in...

This preview shows document pages 1 - 2. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online