A generic multi-robot coordination strategic layer

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2007

Autores

João Certo (Autor) Outra; Nuno Lau (Autor) Outra; Luís Paulo Reis (Autor) FEUP

Ata de Conferência Internacional

Título: ROBOCOMM

Página Final: 11

Proceedings of the 1st International Conference on Robot Communication and Coordination, ROBOCOMM 2007, Athens, Greece, October 15-17, 2007

Indexação

ISI Web of Knowledge

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-008-M62

DOI: 10.1145/1377868.1377882

Abstract (EN): Managing a team of heterogeneous robots in a dynamic environment poses a challenging job. In this paper a model for a multi-purpose, real-time, adaptable, strategical coordination layer is presented. Based on previous work developed for the RoboCup Soccer simulation, small-size, middle-size and legged leagues, a generic coordination model was built. As both centralized and distributed environment are handled by the layer, communication was an important factor to consider only introducing a minor overhead. A multi-level hierarchical approach was followed with hybrid methods used to switch between concepts. The model was tested with two strategy instances, RoboCup Rescue Simulation and RoboCup Soccer. Strategies are designed with the help of a graphical tool. Results achieved by the team in RoboCup Rescue and Soccer Simulation competitions demonstrate the usefulness of this approach. Copyright © 2011-2012 ICST

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 1