Integrated Mission Specification and Task Allocation for Robot Teams - Design and Implementation
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Abstract
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.
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2006
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