Integration of coordination mechanisms in the BITE multi-robot architecture

Gal A. Kaminka, Inna Frenkel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

22 Scopus citations

Abstract

Recent years are seeing a renewed interest in general multi-robot architectures, capable of automating coordination. However, few architectures explore integration of multiple coordination mechanisms. Thus the question of how to best integrate coordination mechanisms is left open. This paper focuses on the micro-kernel integration approach used in BITE (Bar Han Teamwork Engine), a multi-robot behaviorbased architecture. This approach allows the developer to plug in coordination mechanisms (teamwork behaviors) to be used depending on the context of execution. BITE imposes constraints on the specification of taskwork behaviors, which allow BITE's control algorithm to automatically determine sequencing and task-allocation points during task execution. At such points, teamwork behaviors (known as interaction behaviors) are triggered to automate the coordination processes. We argue that BITE's approach is preferable to the methodology of existing architectures, and provide analysis of experiments in using BITE with Sony AIBO robots, to support our argument.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages2859-2866
Number of pages8
DOIs
StatePublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 10 Apr 200714 Apr 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/TerritoryItaly
CityRome
Period10/04/0714/04/07

Fingerprint

Dive into the research topics of 'Integration of coordination mechanisms in the BITE multi-robot architecture'. Together they form a unique fingerprint.

Cite this