A taxonomy for multi-agent robotics

Dudek, Gregory; Jenkin, Michael; Milios, Evangelos; Wilkes, D.

doi:10.1007/bf00240651

Cited by 336 publications

(228 citation statements)

References 46 publications

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“…Groups of robots are used to enhance performance in many tasks [14,20,29,65]. However, the physical environment where such groups operate often pose a challenge for the robots to properly coordinate their activities.…”

Section: Book Chaptersmentioning

confidence: 99%

A Study of Dynamic Coordination Mechanisms

Rosenfeld¹

2009

The Knowledge Engineering Review

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Section: Book Chaptersmentioning

confidence: 99%

A Study of Dynamic Coordination Mechanisms

Rosenfeld¹

2009

The Knowledge Engineering Review

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“…Section 5.1.3 discusses the various limitations expected from such agents, while a commonly used taxonomy for multi agent robotics can be found in [47].…”

Section: Swarm Intelligence -Overviewmentioning

confidence: 99%

Logical Foundations for Rule-Based Systems

2006

Studies in Computational Intelligence

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“…Parker [20] extends the idea of information invariants by defining equivalence classes among task definitions and robot capabilities to assist in the choice of an appropriate controller class. Dudek et al [7] present a taxonomy which classifies multi-robot systems based on communication and computational capabilities. Martinoli et al [15] presents a general methodology by which the collective behavior of a group of mobile robots can be accurately studied using a simple probabilistic model.…”

Section: Related Workmentioning

confidence: 99%

Toward a Multi-Robot Coordination Formalism

Jones

Matarić²

2004

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Coordination is an essential characteristic of any system, either natural or artificial, that is composed of multiple interacting agents. The mechanism by which the coordination is achieved determines such properties as how robust the system is to environmental perturbations, how efficient it is in performing a given task, and, more generally, what types of coordinated tasks can be achieved. A formal understanding of these issues will permit more focused analysis of coordinated natural systems and more effective approaches to the design of coordinated artificial systems. Toward this end, we are systematically investigating coordination in the context of multi-robot systems. We present a formal framework for multi-robot system (MRS) coordination and use it to discuss and reason about coordination. Using this principled foundation, we are developing a suite of general methods by which to automatically synthesize controllers for robots constituting a MRS such that a given task is performed in a coordinated fashion. This paper presents a method for the automatic synthesis of a specific type of controller, one that retains some internal state (e.g., memory of past occurrences) but is not capable of communication. Understanding the capabilities and limitations of a coordinated system composed of individual agents with such properties contributes to the understanding of when memory alone is sufficient to achieve the desired coordination and when other capabilities, such as communication, may be necessary. We validate our formal approach to the study of coordination in a multi-robot construction task domain through the use of both physically-realistic simulations and real-robot demonstrations.

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A taxonomy for multi-agent robotics

Cited by 336 publications

References 46 publications

A Study of Dynamic Coordination Mechanisms

A Study of Dynamic Coordination Mechanisms

Logical Foundations for Rule-Based Systems

Toward a Multi-Robot Coordination Formalism

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