DMCA
Emotion-Based Control of Cooperating Heterogeneous Mobile Robots (2002)
| Venue: | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION |
| Citations: | 29 - 6 self |
BibTeX
@ARTICLE{Murphy02emotion-basedcontrol,
author = {Robin R. Murphy and Christine Lisetti and Russ Tardif and Liam Irish and Aaron Gage},
title = {Emotion-Based Control of Cooperating Heterogeneous Mobile Robots},
journal = {IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION},
year = {2002},
volume = {18},
pages = {744--757}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
Previous experiences show that it is possible for agents such as robots cooperating asynchronously on a sequential task to enter situations where one robot does not fulfill its obligations in a timely manner due to hardware or planning failure, unanticipated delays, etc., leaving the other robot in an infinite wait state. Our approach is derived from a formal multilevel process theory of emotions where emotions both modify active behaviors at the sensory-motor level and change the set of active behaviors at the schematic level. The resulting implementation of a team of heterogeneous robots using a hybrid deliberative/reactive architecture produced the desired emergent cooperative behavior. Data collected at two different public venues illustrate how a dependent agent selects new behaviors (e.g., stop serving, move to intercept the refiller) to compensate for delays from a subordinate agent (e.g., blocked by the audience). The subordinate also modifies the intensity of its active behaviors in response to feedback from the dependent agent. The agents communicate asynchronously through KQML via wireless Ethernet.
Keyphrases
active behavior cooperating heterogeneous mobile robot emotion-based control dependent agent stop serving sensory-motor level unanticipated delay hybrid deliberative reactive architecture wireless ethernet subordinate agent schematic level heterogeneous robot infinite wait state formal multilevel process theory timely manner different public venue desired emergent cooperative behavior new behavior previous experience sequential task
