Scalable, Pairwise Collaborations in Heterogeneous Multi-Robot Teams

Abstract

This paper introduces a finite state machine (FSM) for encoding collaborative interactions among robots. The resulting novel architecture is particularly designed with heterogeneous multi-robot teams in mind, where pairwise collaborative arrangements can result in new capabilities for the participants. To ensure scalability, the proposed FSM’s complexity does not depend on the overall team size for individuals’ decisions. Additionally, we explore various selection strategies to facilitate the pairing of robots and demonstrate the framework’s efficacy on a team of mobile robots with tasks requiring collaboration for their successful completion.