A Paradigm for Dynamic Coordination of Multiple Robots

Authors:
Luiz Chaimowicz;Vijay Kumar;Mario F. M. Campos
Affiliations:
GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA. chaimo@grasp.upenn.edu;GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA. kumar@grasp.upenn.edu;DCC, Universidade Federal de Minas Gerais, Belo Horizonte, MG 31270-010, Brazil. mario@dcc.ufmg.br
Venue:
Autonomous Robots
Year:
2004

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Abstract

In this paper, we present a paradigm for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment. We model this mechanism using a hybrid systems framework and apply it in different cooperative tasks: cooperative manipulation and cooperative search and transportation. Simulations and real experiments demonstrating the effectiveness of the proposed paradigm are presented.