Behavioral synergy without explicit integration
ACM SIGART Bulletin
Multiagent Mission Specification and Execution
Autonomous Robots
Plan Execution Based on Active Perception: Adding Hints to Plans
Autonomous Robots
RoboCup-99: Robot Soccer World Cup III
Reusable Strategies for Software Agents via the Subsumption Architecture
APSEC '99 Proceedings of the Sixth Asia Pacific Software Engineering Conference
A behavior-based model of the hydra, phylum Cnidaria
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
Reactive navigation through rough terrain: experimental results
AAAI'92 Proceedings of the tenth national conference on Artificial intelligence
Hi-index | 0.00 |
This report describes a working autonomous mobile robot whose only goal is to collect and return empty soda cans. It operates in an unmodified office environment occupied by moving people. The robot is controlled by a collection of over 40 independent ``behaviors'''' distributed over a loosely coupled network of 24 processors. Together this ensemble helps the robot locate cans with its laser rangefinder, collect them with its on-board manipulator, and bring them home using a compass and an array of proximity sensors. We discuss the advantages of using such a multi-agent control system and show how to decompose the required tasks into component activities. We also examine the benefits and limitations of spatially local, stateless, and independent computation by the agents.