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Proceedings Paper

Mobile robot group coordination using a model of interaction dynamics
Author(s): Dani Goldberg; Maja J. Mataric
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Paper Abstract

We show how various levels of coordinated behavior may be achieved in a group of mobile robots by using a model of the interaction dynamics between a robot and the environment. We present augmented Markov models (AMMs) as a tool for capturing such interaction dynamics on-line an in real-time, with little computational and storage overhead. We briefly describe the structure of AMMs, then demonstrate the application of the model for resolving group coordination issues arising from three sources: individual performance, group affiliation, and group performance. Corresponding respectively to these are the three experimental examples we present - fault detection, group membership based on ability and experience, and dynamic leader selection.

Paper Details

Date Published: 26 August 1999
PDF: 11 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360357
Show Author Affiliations
Dani Goldberg, Univ. of Southern California (United States)
Maja J. Mataric, Univ. of Southern California (United States)


Published in SPIE Proceedings Vol. 3839:
Sensor Fusion and Decentralized Control in Robotic Systems II
Gerard T. McKee; Paul S. Schenker, Editor(s)

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