B. B. Werger, "Cooperation without deliberation: A minimal behaviorbased approach to multi-robot teams," Artificial Intelligence, vol. 110, pp. 293--320, 1999.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....as the instigator of the coordination. While using explicit communication and negotiation, Stone and Veloso [13] argue that it is impossible to conduct them in real world, real time domains. They introduce PTS (Periodic Team Synchronization) domains where teams can pause to communicate. Werger [16] argues that complex cooperative behaviors can be achieved without explicit communication. He supports this by presenting a successful application to robotic soccer. Concerning explicit communication between rational cooperating agents, decision theoretics have been used to study coordination ....

B. B. Werger. Cooperation without deliberation: A minimal behavior-based approach to robot teams. Artificial Intelligence, 110(2):293--320, 1999.

....of the distributed approach is the di#culty in designing individual behaviors for each robot which will result in the desired group behavior. Research in multi robot systems so far has concentrated in learning group behaviors using behavior based approaches(e.g. foraging, flocking, school9 ing) [24, 2, 3, 4, 47, 58] as well as in localization [11] mapping [44] and exploration [39, 44, 42] Methods for local path planning have also been proposed [33, 18, 1] There seems to be no previous work in the multi robot decision making problem for goal reaching in a global manner. In this thesis, the multi robot ....

Barry B. Werger. Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams. Artificial Intelligence, 110:293--320, 1999.

....competitions This paper was published at TAINN 02. 1] 12] one can conclude that still much progress is required in all areas of technology used in the multi agent teams. From the perspective of the architecture of the Soccer teams, various approaches are proposed [3] 9] 10] 11] [13]. With respect to the movements of the game objects, different abstraction levels can be constructed (Figure 1) Physical rules, such as location, gravity, momentum, and acceleration and most of the official FIFA game rules are implemented in the RoboCup Soccer simulation server [2] Individual ....

Werger, Barry Brian; 1999; "Cooperation without deliberation: a minimal behavior-based approach to multi-robot teams"; Artificial Intelligence; Elsevier

....cost of communication relative to other actions is small [18] It has also been argued that robot teams working in highly dynamic environments get low benefit from complex plan negotiation. This is why, in this field, some researchers propose to eliminate any kind of negotiation in coordination [21, 7]. Distributed coordination of robotic agents [14] has been considered as one of the central research issues in the RoboCup competitions [3, 6] In a highly dynamic and uncertain environment such as the one provided by RoboCup games, the centralized coordination of activities underlying much of the ....

B. B. Werger. Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams. Artificial Intelligence 110, pages 293--320, 1999.

....cost of communication relative to other actions is small [18] It has also been argued that robot teams working in highly dynamic environments get low benefit from complex plan negotiation. This is why, in this field, some researchers propose to eliminate any kind of negotiation in coordination [21, 9]. Distributed coordination of robotic agents [16] has been considered as one of the central research issues in the RoboCup competitions [3, 8] In a highly dynamic and uncertain environment such as the one provided by RoboCup games, the centralized coordination of activities underlying much of ....

B. B. Werger, `Cooperation without deliberation: A minimal behaviorbased approach to multi-robot teams', Artificial Intelligence 110, 293-- 320, (1999).

....and the cost of communication relative to other actions is small. It has also been argued that robot teams working in highly dynamic environments get low bene t from complex plan negotiation. This is why, in this eld, some researchers propose to eliminate any kind of negotiation in coordination [12]. Distributed coordination of robotic agents has been considered as one of the central research issues in the RoboCup competitions [4] In a highly dynamic and uncertain environment such as the one provided by RoboCup games, the centralized coordination of activities underlying much of the work ....

B. B. Werger. Cooperation without deliberation: A minimal behavior-based approach to multirobot teams. Articial Intelligence 110, 1999.

....mistakes is also required. Those capabilities are distributed over the system s behaviors, and thus BBS think the way they act. Behavior based control has been applied to various single and multi robot control problems, including robot soccer (Asada, Uchibe, Noda, Tawaratsumida Hosoda 1994, Werger 1999), coordinated movement (Matari c 1995, Parker 1998, Balch Hybinette 2000) cooperative box pushing (Kube 1992, Krieger, Billeter Keller 2000, Matari c Gerkey 2000) and even humanoid control (Brooks Stein 1994, Scassellati 2000, Jenkins, Matari c Weber 2000) In this paper we discuss in ....

Werger, B. B. (1999), `Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams', Artificial Intelligence 110, 293--320.

....would become a viable option only under specific environmental conditions. The subdivisions within a layer are based on certain environmental variables which may be specific to that particular layer. This presents the danger of information overload. To follow the design principle of minimalism (Werger 1999), each layer uses only information about the environment pertinent to itself to simplify the entire process (Westendorp, Scerri, and Cavedon 1998) The inter layer learning architecture is used to design a team of soccer playing agents within the RoboCup simulator (Noda et al. 1998) The soccer ....

....agents have a fixed viewing arc in which they gather visual percepts. In an attempt to learn this skill, the idea of a viewcone (Figure 4) is introduced in order to discretize the percepts as well as to create a simple but effective visual model along the lines of the minimalist design approach (Werger 1999). Figure 4. Viewcone of labeled arcs The player first converts all of its information about the other players positions on the field into global coordinates. These values are then converted to a relative coordinate system with respect to the passer. Finally, a viewcone is constructed whereby ....

[Article contains additional citation context not shown here]

Werger, B. 1999. Cooperation Without Deliberation: A Minimal Behavior-Based Approach to Multi-Robot Teams. Artificial Intelligence. 110(2):293-320.

....cost of communication relative to other actions is small [18] It has also been argued that robot teams working in highly dynamic environments get low benefit from complex plan negotiation. This is why, in this field, some researchers propose to eliminate any kind of negotiation in coordination [21, 9]. Distributed coordination of robotic agents [16] has been considered as one of the central research issues in the RoboCup competitions [3, 8] In a highly dynamic and uncertain environment such as the one provided by RoboCup games, the centralized coordination of activities underlying much of ....

B. B. Werger, `Cooperation without deliberation: A minimal behaviorbased approach to multi-robot teams', Artificial Intelligence 110, 293-- 320, (1999).

....at a lower level of abstraction than ALLIANCE. It is clear that ALLIANCE could be implemented using Ayllu and BLE, and that for certain tasks it would likely be more convenient; but our interest is in examining the range of tasks that can be covered by our small set of clean, standard, stateless [11] language level abstractions. 6 Conclusion Experimentation has shown that the PAB paradigm, and BLE in particular, is able to support fully distributed, efficient coordination of teams of robots using simple and general low level components. The resulting systems are scalable, robust, and ....

Barry B. Werger. Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams. Artificial Intelligence, 110:293--320, 1999.

....vs. domestic nest worker) and the chaining robots are able to use similar means of assuming efficient roles. Here we discuss a system we have implemented for a drastically different domain robotic soccer which is also able to use local interactions to determine globally efficient roles. Wer99a] discusses at length our physically situated approach to team cooperation for a robot soccer team. Though individual players can perceive only the ball, the goals, and obstacles (which are not distinguished but may be walls, opponents, or teammates) and have no communication equipment, the team ....

....around the ball rather than the V formation of the advance (see Figure 2b) This formation very effectively prevents the opponent from continuing to move the ball up the field, and places players in a good position to gain possession of the ball. An emergent batting behavior (described in [Wer99a] makes it likely that the center robot will jostle the ball towards one of its teammates, which can smoothly begin an advance from the side; this can be seen as a rudimentary pass. Transition between offensive and defensive formations is determined by motion of the ball, and is not even ....

Barry B. Werger. Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams. Artificial Intelligence, 110:293--320, 1999. 21

....and techniques for behavior interaction. We refer to these abstractions and techniques as the PortArbitrated Behavior paradigm, or PAB. While most researchers turn towards more traditional AI methods (combined into hybrid systems ) when attempting to scale behavior to higher levels of competence [2, 3], we believe that behavior based systems restricted to well defined PAB interactions can scale to higher levels of competence than is generally assumed. Specifically, we show that when the PAB paradigm is extended across networks, the resulting systems are able to dynamically reconfigure ....

B. B. Werger, "Cooperation Without Deliberation: A minimal behavior -based approach to multi-robot teams" Artificial Intelligence 110, pp. 293-320, 1999.

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Barry B. Werger. Cooperation without deliberation: A minimal behavior-based approachtomulti-robot teams. Arti#cial Intelligence, 110:293#320, 1999.

.... is a strong trend in the robotics community towards distributed robotic systems the use of groups of robots rather than single robots for greater robustness, scalability, and economy, as well as to achieve strongly cooperative tasks those which simply cannot be performed by a solitary robot ([14,19,2]. Though it is not uncommon these days to see mobile robots equipped with wireless Ethernet links, there are few that have communications architectures that address the many problems specific to the robotic domain. Some of these are: ffl Unreliable communication: Even the most sophisticated radio ....

....learning [10] and Maes work in action selection [8] The MARS L system [5] maintains the inter behavior communication methods of the Behavior Language but allows behaviors to be coded with all the facilities of Common LISP. This system has been used successfully in such domains as robot soccer [19], multi robot learning [11] and human robot interaction [12] In these PAB systems, controllers are written in terms of behaviors, which are groups of concurrent processes. Each behavior has an interface shared by all of its processes, some parts of which are accessible from outside the ....

Barry B. Werger. Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams. Artificial Intelligence, 110:293--320, 1999.

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B. B. Werger, "Cooperation without deliberation: A minimal behaviorbased approach to multi-robot teams," Artificial Intelligence, vol. 110, pp. 293--320, 1999.

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B. B. Werger, "Cooperation without deliberation: A minimal behaviorbased approach to multi-robot teams," Artificial Intelligence, vol. 110, pp. 293--320, 1999.

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Barry Brian Werger, Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams, http:// www-robotics.usc.edu/~barry/papers/aij.pdf, 1998.

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B. B. Werger. Cooperation without deliberation: A minimal behavior-based approach to multi-robot teams. Artificial Intelligence, 110:293--320, 1999.

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Werger, Barry. "Cooperation Without Deliberation: A Minimal Behavior-based Approach to Multi-robot Teams." Artificial Intelligence 110, pp. 293-320, 1999.

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Barry Brian Werger, Cooperation Without Deliberation: A Minimal Behavior-based Approach to Multi-robot Teams, Artificial Intelligence 110 (1999), pp. 293--320.

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B. Werger, "Cooperation without deliberation: a minimal behavior-based approach to multi-robot teams," Artificial Intelligence 110, pp. 293--320, 1999.

No context found.

B. B. Werger, "Cooperation without deliberation: A minimal behavior-based approach to multi-robot team," Artificial Intelligence 110, pp. 293--320, 1999.

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