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Authors: Foad Ghaderi and Majid Nili Ahmadabadi

Affiliation: Faculty of Eng., University of Tehran, Iran, Islamic Republic of

Keyword(s): Cooperative robotics, shared task allocation, fault tolerance.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation

Abstract: Some failures cause the robots to loss parts of their capabilities, so that they cannot perform their assigned tasks. Considering requirements of typical robotic teams during different missions, a distributed behavior based control architecture is introduced in this paper. This architecture is based on an enhanced version of ALLIANCE, and provides the robots the ability of performing shared tasks based on help requests. The architecture contains a mechanism for adaptive action selection and a communication protocol for information and task sharing which are required for coordination of team members. The proposed architecture is used in a box pushing mission where heterogeneous robots push several boxes with different masses.

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Paper citation in several formats:
Ghaderi, F. and Nili Ahmadabadi, M. (2007). HELPING INSTEAD OF REPLACING - Towards A Shared Task Allocation Architecture. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 240-243. DOI: 10.5220/0001630302400243

@conference{icinco07,
author={Foad Ghaderi. and Majid {Nili Ahmadabadi}.},
title={HELPING INSTEAD OF REPLACING - Towards A Shared Task Allocation Architecture},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2007},
pages={240-243},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001630302400243},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - HELPING INSTEAD OF REPLACING - Towards A Shared Task Allocation Architecture
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Ghaderi, F.
AU - Nili Ahmadabadi, M.
PY - 2007
SP - 240
EP - 243
DO - 10.5220/0001630302400243
PB - SciTePress

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