Plan-Based Configuration of a Group of Robots

摘要

Abstract. We consider groups of autonomous robots in which robots can help each other by offering information-producing func-tionalities. A functional configuration is a way to allocate and con-nect functionalities among robots. In general, different configura-tions can be used to solve the same task, depending on the current situation. In this paper, we define the idea of functional configura-tion, and we propose a plan-based approach to automatically gener-ate a preferred configuration for a given task, environment, and set of resources. To illustrate these ideas, we show a simple experiment in which two robots mutually help each-other to cross a door. 1