Internalized Plans for Communication-Sensitive Robot Team Behaviors

Files
InternalPlanPaperIROSFinalDraft.pdf (443.23 KB)
Author(s)
Wagner, Alan R.
Advisor(s)
Editor(s)
Associated Organization(s)
Organizational Unit
Organizational Unit
Organizational Unit
Series
Collections
Research Publications
Supplementary to:
Permanent Link
http://hdl.handle.net/1853/21338
Abstract
Autonomous teams of robots operating in a dynamic, adversarial environment stand to benefit from using all available resources. But how can knowledge be used to construct a plan that does not interfere with the robots ability to react to its environment? In this research we distill abstract representation into a plan usable by a reactive behavior-based architecture. This plan is then exploited to enhance the performance of a team of robots tasked with maintaining communications while performing reconnaissance. Utilizing multiple plans in serial and in parallel is shown via simulation to be a promising method for increasing mission performance. We conclude that the utility of these internalized plans warrants further investigation as a method for imbuing reactive agents with a priori knowledge.
Sponsor
Date
2003
Extent
Resource Type
Text
Resource Subtype
Paper
Rights Statement
Rights URI