Coordinating mobile robot group behavior using a model of interaction dynamics
Proceedings of the third annual conference on Autonomous Agents
Artificial Intelligence - Special issue on Robocop: the first step
Multiagent Mission Specification and Execution
Autonomous Robots
Task Modelling in Collective Robotics
Autonomous Robots
Human–Robot Cooperation Using Multi-Agent-Systems
Journal of Intelligent and Robotic Systems
COLBERT: A Language for Reactive Control in Sapphira
KI '97 Proceedings of the 21st Annual German Conference on Artificial Intelligence: Advances in Artificial Intelligence
The Behavior Language: User''s Guide
The Behavior Language: User''s Guide
Distributed Coordination in Heterogeneous Multi-Robot Systems
Autonomous Robots
The Contract Net Protocol: High-Level Communication and Control in a Distributed Problem Solver
IEEE Transactions on Computers
Petri net plans: a formal model for representation and execution of multi-robot plans
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Coverage, exploration, and deployment by a mobile robot and communication network
IPSN'03 Proceedings of the 2nd international conference on Information processing in sensor networks
Sharing belief in teams of heterogeneous robots
RoboCup 2004
Multirobot systems: a classification focused on coordination
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Robotics and Autonomous Systems
Decentralized task allocation for surveillance systems with critical tasks
Robotics and Autonomous Systems
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In this paper a case study of the cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended, compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required in order to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed, including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.