By Topic

Protocols for collaboration, coordination and dynamic role assignment in a robot team

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Emery, R. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Sikorski, K. ; Balch, T.

Creation of cooperative robot teams for complex tasks requires not only agents that can function well individually but also agents that can coordinate their actions. The paper presents several methods for collaboration and coordination in a team of soccer-playing robots. In our approach, fixed collaborative supporting behaviours allow for robots to aid each other and decrease interference. Coordinated dynamic role assignment then permits the robots to take advantage of their current location on the field. We present a robust protocol for dynamic role assignment based upon multithreaded computer programming that mitigates the risk often associated with initiating a role change in a distributed system. This protocol is independent from the manner in which the decision to switch roles is made and would therefore support any approach to role assignment. The individual and supporting behaviours were tested at RoboCup 2001 in Seattle, Washington

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:3 )

Date of Conference:

2002