From insect to Internet: Situated control for networked robot teams

  • Authors:

  • Barry Brian Werger;Maja J. Matarić

  • Affiliations:

  • Interaction Laboratory, Robotics Research Labs, Department of Computer Science, University of Southern California, Los Angeles, CA 90089-0781, USA E-mail: barry@usc.edu;Interaction Laboratory, Robotics Research Labs, Department of Computer Science, University of Southern California, Los Angeles, CA 90089-0781, USA E-mail: mataric@usc.edu

  • Venue:
  • Annals of Mathematics and Artificial Intelligence
  • Year:
  • 2001

Quantified Score

Hi-index 0.00

Visualization

Abstract

Ant-like systems take advantage of agents' isituatedness to reduce or eliminate the need for centralized control or global knowledge. This reduces the need for complexity of individuals and leads to robust, scalable systems. Such insect-inspired situated approaches have proven effective both for task performance and task allocation. The desire for general, principled techniques for situated interaction has led us to study the exploitation of iabstract situatedness – situatedness in non-physical environments. The iport-arbitrated behavior-based control approach provides a well-structured abstract ibehavior space in which agents can participate in situated interaction. We focus on the problem of irole assumption, distributed task allocation in which each agent selects its own task-performing role. This paper details our general, principled Broadcast of Local Eligibility (BLE) technique for role-assumption in such behavior-space-situated systems, and provides experimental results from the CMOMMT target-tracking task.