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Reactive, distributed layered architecture for resource-bounded multi-robot cooperation: application to mobile sensor network coverage
Kian Hsiang Low; Wee Kheng Leow; Ang, M.H., Jr.;
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Volume 4,
Apr 26-May 1, 2004
Page(s):3747
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3752 Vol.4
Abstract:
This paper describes a reactive, distributed layered architecture for cooperation of multiple resource-bounded robots, which is utilized in mobile sensor network coverage. In the upper layer, a dynamic task allocation scheme self-organizes the robot coalitions to track efficiently in separate regions. It uses the concepts of ant behavior to self-regulate the regional distributions of robots in proportion to that of the targets to be tracked in the changing environment. As a result, the adverse effects of task interference between robots are minimized and sensor network coverage is improved. In the lower layer, the robots use self-organizing neural networks to coordinate their target tracking within a region. Quantitative comparisons with other tracking strategies such as static sensor placements, potential fields, and auction-based negotiation show that our approach can provide better coverage and greater flexibility in responding to environmental changes.
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