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A generic multi-robot coordination strategic layer

Title
A generic multi-robot coordination strategic layer
Type
Article in International Conference Proceedings Book
Year
2007
Authors
João Certo
(Author)
Other
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Nuno Lau
(Author)
Other
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Conference proceedings International
Final page: 11
Proceedings of the 1st International Conference on Robot Communication and Coordination, ROBOCOMM 2007, Athens, Greece, October 15-17, 2007
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Publicação em ISI Web of Knowledge ISI Web of Knowledge
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Authenticus ID: P-008-M62
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
Language: English
Type (Professor's evaluation): Scientific
No. of pages: 1
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