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
Authors
Arkin, Ronald C.
Endo, Yoichiro
Ulam, Patrick D.
Wagner, Alan
Endo, Yoichiro
Ulam, Patrick D.
Wagner, Alan
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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.
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2006
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