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

abstract

• 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.

authors

• Goldberg, Daniel

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

published in

• Proceedings of SPIE  Journal

start page

• 63

end page

• 73

volume

• 3839