Behavior-Based Coordination in Multi-Robot Systems

摘要

The successful deployment of a multi-robot system (MRS) requires an effective method of coordination to mediate the interactions among the robots and between the robots and the task environment in order for a given system-level task to be performed. The issue of choosing a particular action given inputs from potentially multiple sensors and behaviors is called action selection. In order to maximize the effectiveness of a MRS, the robots’ actions must be spatio-temporally coordinated and directed toward the achievement of a given system-level task or goal. Interaction through sensing can be used by a robot to model the behavior of other robots or to determine what another robot is doing in order to make decisions. The deliberative approach to robot control is usually computationally intensive due to the use of explicit reasoning or planning using symbolic representations and world models.