Abstract
Teams of robots are increasingly deployed in real world applications. One
of the key challenges in building such teams is to automate the control of teamwork,
such that the designer can concentrate her efforts on the taskwork to be done. This
paper presents steps towards a novel framework addressing this challenge in teams of
behavior-based agents. The framework provides a rich representation that facilitates
management of teamwork knowledge, and separates behaviors that govern a robot's
interaction with its task from behaviors that govern a robot's interaction with its teammates.
In addition, the paper presents a set of algorithms that control the execution and
communication of behaviors, to automate synchronization and allocation of behaviors
to sub-teams. We describe our implementation of the framework in the BITE architecture,
a distributed behavior-based architecture providing automated coordination and
collaboration services in a team of Sony AIBO robots.
| Original language | American English |
|---|---|
| Title of host publication | Eighth Conference on Intelligent Autonomous Systems |
| Editors | G. Kaminka |
| Publisher | N/A |
| State | Published - 2004 |