Title :
Autonomous cooperation planning for heterogeneous multi-robot
Author :
Kato, Daichi ; Sekiyama, Kosuke ; Fukuda, Toshio
Author_Institution :
Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya, Japan
Abstract :
This paper deals with an adaptive multi-robot task planning. When a desired goal state of the task environment is given, backward task planning from the goal state and forward search form the initial condition such as currently available robot and functions and displacement of objects etc., are interactively executed to find a feasible state transition. Nontrivial multi-robot cooperation formation is dynamically generated as a result of the task planning. Experimental results validate the proposed method.
Keywords :
cooperative systems; mobile robots; multi-robot systems; adaptive heterogeneous multirobot task planning; autonomous cooperation planning; backward task planning; multirobot cooperation formation; state transition; Multirobot systems; Planning; Real time systems; Robot vision systems; Strips;
Conference_Titel :
Robotic Intelligence In Informationally Structured Space (RiiSS), 2011 IEEE Workshop on
Conference_Location :
Paris
Print_ISBN :
978-1-4244-9885-7
DOI :
10.1109/RIISS.2011.5945780
