Abstract
To design good cooperative team members in robotics it is important to know what coordination mechanisms are required. Our approach to explore the need for a coordination mechanism is based on a systematic methodology to identify team coordination requirements. We show that a team combined of robots that each individually can solve a task not always is able to guarantee task completion as a team. In these cases some mechanism for coordination is required and we formally identify various problem classes that impose different requirements. We introduce a formal task model and distinguish between no, implicit and explicit coordination mechanisms. This model is used to study which mechanisms guarantee task completion. It allows us to prove some empirical findings reported in the literature such as that a simple foraging task does not require coordination.
Original language | English |
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Title of host publication | IROS Hamburg 2015 - Conference Digest |
Subtitle of host publication | IEEE/RSJ International Conference on Intelligent Robots and Systems |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 2817-2822 |
Number of pages | 6 |
Volume | 2015-December |
ISBN (Electronic) | 9781479999941 |
DOIs | |
Publication status | Published - 11 Dec 2015 |
Externally published | Yes |
Event | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015 |
Conference
Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 |
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Country/Territory | Germany |
City | Hamburg |
Period | 28/09/15 → 2/10/15 |
Keywords
- Multi-agent systems
- Planning
- Resource management
- Robot kinematics
- Semantics
- Teamwork