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Distributed multi-robot task allocation for emergency handling

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3 Author(s)
E. H. Ostergaard ; Maersk Mc-Kinney Moller Inst., Southern Denmark Univ., Odense, Denmark ; M. J. Mataric ; G. S. Sukhatme

We describe a prototype task, emergency handling, for multi-robot coordination. The experiments reported measure the effects of individualism and opportunism in a physically-implemented multi-robot system. We use sound at multiple frequencies to simulate emergencies by producing several locally-sensable gradients in the environment. Our results show that opportunism affords a significant performance improvement over individualism. Our experiments also demonstrate the viability of sound for producing detectable local gradients in the environment

Published in:

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference: