Title:
Integrated Mission Specification and Task Allocation for Robot Teams - Part 2: Testing and Evaluation
Integrated Mission Specification and Task Allocation for Robot Teams - Part 2: Testing and Evaluation
Author(s)
Arkin, Ronald C.
Endo, Yoichiro
Ulam, Patrick D.
Wagner, Alan
Endo, Yoichiro
Ulam, Patrick D.
Wagner, Alan
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
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.
Sponsor
Date Issued
2006
Extent
Resource Type
Text
Resource Subtype
Paper