A Model-Based Executive for Commanding Robot Teams

The paper presents a way to robustly command a system of systems as a single entity. Instead of modeling each component system in isolation and then manually crafting interaction protocols, this approach starts with a model of the collective population as a single system. By compiling the model into separate elements for each component system and utilizing a teamwork model for coordination, it circumvents the complexities of manually crafting robust interaction protocols. The resulting systems are both globally responsive by virtue of a team oriented interaction model and locally responsive by virtue of a distributed approach to model-based fault detection, isolation, and recovery.

• Type: Conference
• Year: 2005
• Where: PROMAS
• Authors: Anthony Barrett
• Keywords: Interaction Protocols, Model, PROMAS 2005, Robust Interaction Protocols