Dealing with perception errors in multi-robot system coordination

Authors:
Alessandro Farinelli;Daniele Nardi;Paul Scerri;Alberto Ingenito
Affiliations:
Dip. di Informatica e Sistemistica, University of Rome, "La Sapienza";Dip. di Informatica e Sistemistica, University of Rome, "La Sapienza";Robotics Institute, Carnegie Mellon University;Dataspazio S.p.A.
Venue:
IJCAI'07 Proceedings of the 20th international joint conference on Artifical intelligence
Year:
2007

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Abstract

A prerequisite to efficient behavior by a multi-robot team is the ability to accurately perceive the environment. In this paper, we present an approach to deal with sensing uncertainty at the coordination level. Specifically, robots attach information regarding features that caused the initiation of a course of action, to any coordination message for that activity. Further information regarding such features, acquired by the team, are then combined and the expected utility of the started action is re-evaluated accordingly. Experiments show that the approach allows to coordinate a large group of robots, addressing sensing uncertainty in a tractable way.