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Multi-Robot Team Coordination using Desirabilities

A. Saffiotti, N.B. Zumel, and E.H. Ruspini

Abstract
Desirability functions are an effective way to express and implement complex behavior coordination strategies inside a single robot. In this paper, we extend the desirability function approach to deal with behaviors of teams of robots. We show that desirability functions offer a convenient tool to incorporate and blend individual objectives and team objectives. We illustrate our approach on two significant problems of team coordination: reactive formation motion control, and collaborative searching and tracking.
Citation
A. Saffiotti, N.B. Zumel, and E.H. Ruspini. Multi-Robot Team Coordination using Desirabilities. Proc. of the 6th Intl. Conf. on Intelligent Autonomous Systems (IAS), pp. 107-114. Venice, Italy, 2000.
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Email Alessandro Saffiotti
Email Enrique H. Ruspini
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