Multi-robot control in highly dynamic, competitive environments
Ball, David & Wyeth, Gordon (2004) Multi-robot control in highly dynamic, competitive environments. In Polani, Daniel, Browning, Brett, Bonarini, Andrea, & Yoshida, Kazuo (Eds.) RoboCup 2003 : Robot Soccer World Cup VII. Springer Berlin / Heidelberg, pp. 385-396.
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The control and coordination of multiple mobile robots is a challenging task; particularly in environments with multiple, rapidly moving obstacles and agents. This paper describes a robust approach to multi-robot control, where robustness is gained from competency at every layer of robot control. The layers are: (i) a central coordination system (MAPS), (ii) an action system (AES), (iii) a navigation module, and (iv) a low level dynamic motion control system. The multi-robot coordination system assigns each robot a role and a sub-goal. Each robots action execution system then assumes the assigned role and attempts to achieve the specified sub-goal. The robots navigation system directs the robot to specific goal locations while ensuring that the robot avoids any obstacles. The motion system maps the heading and speed information from the navigation system to force-constrained motion. This multi-robot system has been extensively tested and applied in the robot soccer domain using both centralized and distributed coordination.
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|Item Type:||Book Chapter|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2004 Springer-Verlag Berlin Heidelberg|
|Deposited On:||28 Sep 2010 13:46|
|Last Modified:||10 Aug 2011 23:07|
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