(Georgia Institute of Technology, 2006)
Arkin, Ronald C.; Endo, Yoichiro; Ulam, Patrick D.; Wagner, Alan
As the capabilities, range of missions, and the size
of robot teams increase, the ability for a human operator to
account for all the factors in these complex scenarios can become
exceedingly difficult. Our previous research has studied the
use of case-based reasoning (CBR) tools to assist a user in
the generation of multi-robot missions. These tools, however,
typically assume that the robots available for the mission are
of the same type (i.e., homogeneous). We loosen this assumption
through the integration of contract-net protocol (CNP) based
task allocation coupled with a CBR-based mission specification
wizard. Two alternative designs are explored for combining case-based
mission specification and CNP-based team allocation as
well as the tradeoffs that result from the selection of one of these
approaches over the other.
(Georgia Institute of Technology, 2006)
Arkin, Ronald C.; Endo, Yoichiro; Ulam, Patrick D.; Wagner, Alan
This work presents the evaluation of two mission
specification and task allocation architectures. These architectures,
described in part 1 of this paper, present novel means with
which to integrate a case-based reasoning (CBR) mission planner
with contract net protocol (CNP) based task allocation. In the first
design, the CBR and runtime-CNP architecture, the case-based
mission planner generates mission plans that support necessary
behaviors for CNP-based task allocation and execution. In the
second design, the CBR and premission-CNP architecture, task
allocation takes place during mission specification. The results
of an empirical evaluation of the CBR and runtime-CNP across
three naval scenarios is described. Finally, we briefly describe
an earlier usability evaluation of the CBR and premission-CNP
architecture using goals, operators, methods, and selection rules
modeling.