Name
Abstract | ||
|---|---|---|
We consider an ecology of robots in which robots can help each other by offering information-producing func- tionalities. A functional configuration of this ecology is a way to allocate and connect functionalities among the participating robots. In general, different configurations can be used to solve the same task, depending on the current situation, and some tasks require sequences of different configurations to be solved. In this paper, we propose a plan-based approach to automatically generate a preferred configuration for a give n task, environment, and set of resources. We also describe how our configuration planner can be integrated with an action planner to deal with tasks that require sequences of configurations. We illustrate these ideas on a specific insta nce of an ecology of robots, called a PEIS Ecology. We also show an experiment run on our PEIS Ecology testbed, in which a sequence of configurations for an olfactory task is automati cally generated and executed. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.363766 | Roma |
Keywords | Field | DocType |
multi-robot systems,path planning,task analysis,PEIS ecology,action planning,functional configuration,plan-based configuration,robot ecology | Motion planning,Ecology,Task analysis,Intelligent sensor,Planner,Testbed,Control engineering,Engineering,Action planning,Robot,Mobile robot | Conference |
Volume | Issue | ISSN |
2007 | 1 | 1050-4729 E-ISBN : 1-4244-0602-1 |
ISBN | Citations | PageRank |
1-4244-0602-1 | 17 | 1.13 |
References | Authors | |
12 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Robert Lundh | 1 | 68 | 4.56 |
| Lars Karlsson | 2 | 556 | 42.34 |
| Alessandro Saffiotti | 3 | 2755 | 284.17 |