Title :
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
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;
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
DOI :
10.1109/IROS.1994.407545
