Robot motion planning with many degrees of freedom and dynamic constraints
The fifth international symposium on Robotics research
Collaborative plans for complex group action
Artificial Intelligence
Core Jini
Swarm intelligence
An Behavior-based Robotics
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 3
An Automated Teamwork Infrastructure for Heterogeneous Software Agents and Humans
Autonomous Agents and Multi-Agent Systems
Teambotica: a robotic framework for integrated teaming, tasking, networking, and control
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Distributed Sensor Networks: A Multiagent Perspective
Distributed Sensor Networks: A Multiagent Perspective
Interactive execution monitoring of agent teams
Journal of Artificial Intelligence Research
Synergistic integration of agent technologies for military simulation
AAMAS '06 Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems
Auction-based multi-robot task allocation in COMSTAR
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
Collision Avoidance Algorithms: Multi-agent Approach
HoloMAS '07 Proceedings of the 3rd international conference on Industrial Applications of Holonic and Multi-Agent Systems: Holonic and Multi-Agent Systems for Manufacturing
Agent organized networks redux
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 1
The impact of vertical specialization on hierarchical multi-agent systems
AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 1
The statistical mechanics of belief sharing in multi-agent systems
Information Fusion
Toward distributed declarative control of networked cyber-physical systems
UIC'10 Proceedings of the 7th international conference on Ubiquitous intelligence and computing
Complex Task Allocation in Mobile Surveillance Systems
Journal of Intelligent and Robotic Systems
Real-world testing of a multi-robot team
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 3
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We describe the Centibots system, a very large scale distributed robotic system, consisting of more than 100 robots, that has been successfully deployed in large, unknown indoor environments, over extended periods of time (i.e., durations corresponding to several power cycles). Unlike most multiagent systems, the set of tasks about which teams must collaborate is not given a priori. We first describe a task inference algorithm that identifies potential team commitments that collectively balance constraints such as reachability, sensor coverage, and communication access. We then describe a dispatch algorithm for task distribution and management that assigns resources depending on either task density or replacement requirements stemming from failures or power shortages. The targeted deployment environments are expected to lack a supporting communication infrastructure; robots manage their own network and reason about the concomitant localization constraints necessary to maintain team communication. Finally, we present quantitative results in terms of a "search and rescue problem" and discuss the team-oriented aspects of the system in the context of prevailing theories of multiagent collaboration.