Enabling intra-robotic capabilities adaptation using an organization-based multiagent system

In harsh or dangerous environments, robots can lose function in multiple sensors and effectors over the mission, thus reducing their overall capability. If the capabilities provided by these sensors/effectors are necessary for mission completion, having an adaptive system that can overcome these losses is critical to mission accomplishment. In this paper, we propose a solution using multiple agents, organized as a team, to give robots the ability to adapt and overcome sensor/effector loss. When a sensor/effector is lost, the team can reorganize to provide the robot highest operational utility, given its current capabilities. The robot can adapt to such losses by substituting other sets of sensors/effectors to provide the best overall capability. While the robot may operate at a lower level of effectiveness, it will be able continue its mission, if possible.