26 August 1999 Mobile robot group coordination using a model of interaction dynamics
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Abstract
We show how various levels of coordinated behavior may be achieved in a group of mobile robots by using a model of the interaction dynamics between a robot and the environment. We present augmented Markov models (AMMs) as a tool for capturing such interaction dynamics on-line an in real-time, with little computational and storage overhead. We briefly describe the structure of AMMs, then demonstrate the application of the model for resolving group coordination issues arising from three sources: individual performance, group affiliation, and group performance. Corresponding respectively to these are the three experimental examples we present - fault detection, group membership based on ability and experience, and dynamic leader selection.
© (1999) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Dani Goldberg, Dani Goldberg, Maja J. Mataric, Maja J. Mataric, } "Mobile robot group coordination using a model of interaction dynamics", Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360357; https://doi.org/10.1117/12.360357
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