Plan-Based Configuration of a Group of Robots

Authors:
Robert Lundh;Lars Karlsson;Alessandro Saffiotti
Affiliations:
Center for Applied Autonomous Sensor Systems, Örebro University, Sweden. email: {robert.lundh,lars.karlsson,alessandro.saffiotti}@aass.oru.se;Center for Applied Autonomous Sensor Systems, Örebro University, Sweden. email: {robert.lundh,lars.karlsson,alessandro.saffiotti}@aass.oru.se;Center for Applied Autonomous Sensor Systems, Örebro University, Sweden. email: {robert.lundh,lars.karlsson,alessandro.saffiotti}@aass.oru.se
Venue:
Proceedings of the 2006 conference on ECAI 2006: 17th European Conference on Artificial Intelligence August 29 -- September 1, 2006, Riva del Garda, Italy
Year:
2006

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Abstract

We consider groups of autonomous robots in which robots can help each other by offering information-producing functionalities. A functional configuration is a way to allocate and connect functionalities among robots. In general, different configurations can be used to solve the same task, depending on the current situation. In this paper, we define the idea of functional configuration, and we propose a plan-based approach to automatically generate a preferred configuration for a given task, environment, and set of resources. To illustrate these ideas, we show a simple experiment in which two robots mutually help each-other to cross a door.