Mobile robot group coordination using a model of interaction dynamics Conference Paper uri icon


  • We show how various levels of coordinated behavior may be achieved in a group of mobile robots by using a model of the interaction dynamics between a robot and the environment. We present augmented Markov models (AMMs) as a tool for capturing such interaction dynamics on-line and in real-time, with little computational and storage overhead. We briefly describe the structure of AMMs, then demonstrate the application of the model for resolving group coordination issues arising from three sources: individual performance, group affiliation, and group performance. Corresponding respectively to these are the three experimental examples we present - fault detection, group membership based on ability and experience, and dynamic leader selection.

published proceedings

  • Proceedings of SPIE - The International Society for Optical Engineering

author list (cited authors)

  • Goldberg, D., & Mataric, M. J

complete list of authors

  • Goldberg, D||Mataric, MJ

publication date

  • December 1999