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ASME Press Select Proceedings
Intelligent Engineering Systems through Artificial Neural Networks Volume 18
Editor
Cihan H. Dagli
Cihan H. Dagli
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ISBN-10:
0791802823
ISBN:
9780791802823
No. of Pages:
700
Publisher:
ASME Press
Publication date:
2008

Coordinating multiple robots to achieve a complex task requires solving two distinct control problems: the high-level control problem of ensuring that each robot aims to perform a useful task (e.g., coordination) and the low-level control problem of ensuring that each robot actually performs the correct actions to achieve its task (e.g., navigation and locomotion). Though addressing both problems simultaneously with one algorithm is appealing, this is often difficult to impossible in domains requiring a combination of complex actions (goal selection, navigation, obstacle avoidance). Our results show that deriving robot objectives that are “aligned” with the system objective (e.g., promoting goal selection that contributes to the system objective) becomes crucial when the difficulty of the coordination problem increases: specifically when the signal noise and action stochasticity are at realistic levels.

Abstract
1 Introduction
2 Problem Definition
3 Goal Selection for Coordination
4 Experiments
5 Discussion
References
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