Mobile robot group coordination using a model of interaction dynamics

Dani Goldberg; Maja J. Mataric

doi:10.1117/12.360357

26 August 1999 Mobile robot group coordination using a model of interaction dynamics

Dani Goldberg, Maja J. Mataric

Proceedings Volume 3839, Sensor Fusion and Decentralized Control in Robotic Systems II; (1999) https://doi.org/10.1117/12.360357
Event: Photonics East '99, 1999, Boston, MA, United States

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.

Citation Download Citation

Dani Goldberg and 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); https://doi.org/10.1117/12.360357

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