Dynamic Role Assignment for Cooperative Robots

This paper proposes a new methodology for coordinating multi-robot teams in the execution of cooperative tasks. It is based on a dynamic role assignment mechanism in which the robots assume and exchange roles during cooperation. We model the role assignment under a hybrid systems framework, using a hybrid automaton to represent roles, transitions and controllers. Using a multi-robot simulator, the methodology is demonstrated in a cooperative transportation task, in which a group of robots must find and cooperatively transport several objects scattered in the environment.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Luiz Chaimowicz, Mario Fernando Montenegro Campos, Vijay Kumar
• Keywords: ICRA 2002, Multi-robot Teams, Robotics, Role Assignment, Role Assignment Mechanism