Title:
Trust Modeling in Multi-Robot Patrolling
Trust Modeling in Multi-Robot Patrolling
| dc.contributor.author | Pippin, Charles | |
| dc.contributor.author | Christensen, Henrik I. | |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | Georgia Tech Research Institute | |
| dc.date.accessioned | 2014-08-14T20:57:35Z | |
| dc.date.available | 2014-08-14T20:57:35Z | |
| dc.date.issued | 2014-06 | |
| dc.description | ©2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 2014 IEEE International Conference on Robotics and Automation (ICRA), 31 May-7 June 2014, Hong Kong, China. | |
| dc.description.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. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Pippin, C., & Christensen, H. (2014). "Trust Modeling in Multi-Robot Patrolling". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014), 31 May-7 June, 2014. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/52138 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Multi-robot | en_US |
| dc.subject | Trust | en_US |
| dc.title | Trust Modeling in Multi-Robot Patrolling | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Christensen, Henrik I. | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | afdc727f-2705-4744-945f-e7d414f2212b | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |