Decentralized decision making in adaptive multi-robot teams

摘要

Abstract We present our decision support middleware PROViDE that facilitates decentralized decision making in multi-robot teams operating in highly dynamic environments with potentially unreliable communication channels and noisy sensors. Achieving an adaptive team behavior in such an environment is a challenge because the specific conditions require a fully decentralized decision process. The design of PROViDE borrows inspiration from human decision making processes. PROViDE supports replication of proposals, conflict resolution, and final team-decision making. For each of these steps a choice of methods is offered to the developer to provide flexibility for different application requirements and characteristics of execution environments. PROViDE is integrated into a comprehensive modeling framework for multi-robot systems. The main contributions of this paper are twofold: For the development of adaptive multi-robot teams we discuss requirements for a middleware that supports decentralized decision making in dynamic and adverse environments, and we demonstrate the effective and coherent integration of a set of domain-dependent decision support protocols into a middleware framework.