Collaborative team organization using communication in a decentralized robotic system

Author

Asama, Hajime ; Ozaki, Koichi ; Ishida, Yoshiki ; Yokota, Kazutaka ; Matsumoto, Akihiro ; Kaetsu, Hayato ; Endo, Isao

Author_Institution

RIKEN, Inst. of Phys. & Chem. Res., Saitama, Japan

Volume

2

fYear

1994

fDate

12-16 Sep 1994

Firstpage

816

Abstract

As a flexible and robust intelligent robot system, we have been developing an autonomous and decentralized robot system called ACTRESS, which is composed of multiple robotic agents. In this paper, introducing an idea of cooperative action with group organization and a strategy for cooperative task processing using communication, a method for team organization by efficient negotiation is presented. The efficient negotiation is realized by a newly developed communication functionality called groupcast and a learning mechanism utilizing historical records on past negotiation. The negotiation procedures for team organization are implemented, and as a result of simulation experiments, the efficiency of the learning mechanism is verified

Keywords

cooperative systems; decentralised control; intelligent control; learning (artificial intelligence); robots; ACTRESS; collaborative team organization; communication functionality; cooperative task processing; decentralized robotic system; group organization; groupcast; intelligent robot system; learning mechanism; multiple robotic agents; Collaboration; Intelligent robots; Learning systems; Local area networks; Mobile robots; Parallel robots; Postal services; Power generation; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Conference_Location

Munich

Print_ISBN

0-7803-1933-8

Type

conf

DOI

10.1109/IROS.1994.407545

Filename

407545