Title:
Trust Modeling in Multi-Robot Patrolling
Trust Modeling in Multi-Robot Patrolling
Author(s)
Pippin, Charles
Christensen, Henrik I.
Christensen, Henrik I.
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Abstract
On typical multi-robot teams, there is an implicit
assumption that robots can be trusted to effectively perform
assigned tasks. The multi-robot patrolling task is an example of a domain that is particularly sensitive to reliability and
performance of robots. Yet reliable performance of team members may not always be a valid assumption even within
homogeneous teams. For instance, a robot’s performance may
deteriorate over time or a robot may not estimate tasks correctly. Robots that can identify poorly performing team members as performance deteriorates, can dynamically adjust
the task assignment strategy. This paper investigates the use
of an observation based trust model for detecting unreliable robot team members. Robots can reason over this model to
perform dynamic task reassignment to trusted team members.
Experiments were performed in simulation and using a team of indoor robots in a patrolling task to demonstrate both
centralized and decentralized approaches to task reassignment.
The results clearly demonstrate that the use of a trust model
can improve performance in the multi-robot patrolling task.
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Date Issued
2014-06
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