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ALLIANCE: An Architecture for Fault Tolerant Multi-Robot Cooperation (1998)
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| Venue: | IEEE Transactions on Robotics and Automation |
| Citations: | 504 - 13 self |
BibTeX
@ARTICLE{Parker98alliance:an,
author = {Lynne E. Parker},
title = {ALLIANCE: An Architecture for Fault Tolerant Multi-Robot Cooperation},
journal = {IEEE Transactions on Robotics and Automation},
year = {1998},
volume = {14},
pages = {220--240}
}
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Abstract
ALLIANCE is a software architecture that fa- cilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled subtasks that may have ordering dependencies. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot's own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically-modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.
Keyphrases
fault tolerant multi-robot cooperation software architecture cooperative robotic team new skill adaptive action selection unpredictable environment heterogeneous mobile robot mechanical failure mobile robot robot team appropriate action behavior-based architecture robot team member laboratory version current environmental condition hazardous waste cleanup mathematically-modeled motivation internal state unexpected environmental change fault tolerant cooperative control human intervention high-level function
