Integrated Mission Specification and Task Allocation for Robot (2007)
| Venue: | Teams - Design and Implementation", Proc. ICRA 2007, Rome IT |
| Citations: | 8 - 2 self |
BibTeX
@INPROCEEDINGS{Ulam07integratedmission,
author = {Patrick Ulam and Yochiro Endo and Alan Wagner and Ronald Arkin},
title = {Integrated Mission Specification and Task Allocation for Robot},
booktitle = {Teams - Design and Implementation", Proc. ICRA 2007, Rome IT},
year = {2007},
pages = {4428--4435}
}
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Abstract
Abstract — This work presents the evaluation of two mission specification and task allocation architectures. These architectures, described in part 1 of this paper, present novel means with which to integrate a case-based reasoning (CBR) mission planner with contract net protocol (CNP) based task allocation. In the first design, the CBR and runtime-CNP architecture, the case-based mission planner generates mission plans that support necessary behaviors for CNP-based task allocation and execution. In the second design, the CBR and premission-CNP architecture, task allocation takes place during mission specification. The results of an empirical evaluation of the CBR and runtime-CNP across three naval scenarios is described. Finally, we briefly describe an earlier usability evaluation of the CBR and premission-CNP architecture using goals, operators, methods, and selection rules modeling. I.
