Fully Decentralized Planner-Guided Robot Swarm Demonstration

Autor:	Michael Schader, Sean Luke
Rok vydání:	2021
Předmět:	Task switching Robustness (computer science) Computer science Distributed computing Scalability Swarm robotics Swarm behaviour Robot Inverse problem Planner computer computer.programming_language
Zdroj:	Lecture Notes in Computer Science ISBN: 9783030857387 PAAMS
Popis:	Robot swarms hold great potential for accomplishing missions in a robust, scalable, and flexible manner. However, determining what low-level agent behavior to implement in order to meet high-level objectives is an unsolved inverse problem. Building on previous work on partially-centralized planner-guided robot swarms, we present an approach that achieves total decentralization of executive and deliberator functions, adds robustness and performance optimization through dynamic task switching, and employs agent-initiated superrational planning to coordinate agent activity while responding to changes in the environment. We demonstrate the effectiveness of the technique with three swarm robotics scenarios.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::65b99c91721aa1342806fde0ecbbf43f https://doi.org/10.1007/978-3-030-85739-4_37 Zobrazit plný text záznamu