Multiagent Robotic Systems
Dr. Ronald C. Arkin.
- NSF Grant IRI-9100149, DARPA/ONR and
the CIMS/AT&T Intelligent Mechatronics Laboroatory.
- NSF Project
- Design criteria have been developed for multiagent reactive
robotic systems for a variety of tasks. In particular, various
communication methods and social organizations were studied and
quantitatively evaluated. The environments are assumed to be at best
only partially known.
- DARPA Project
- Multiagent task-achieving behavior is being studied in the
context of hostile environments.
Teleautonomous control of robot societies is also being
evaluated as well as various formation control techniques.
Formal methods for expressing teams of robots have been
developed and are embodied in the
MissionLab software system. This research is related to the DARPA effort in the
UGV Demo II project. Additionally research in
Robot Formations has also been
conducted and demonstrated on two HMMWVs at DARPA'ds Demo C.
- CIMS/AT&T Project
- A multi-disciplinary group of students and researchers
designed and built a three robot team of foraging robots. The
robots competed in and won the ``Clean Up the Office'' event at
the 1994 AAAI robot competition. A reactive strategy for
multiagent cooperation helps the robots search for trash objects,
which they grasp and carry to wastebaskets.
This research concerns learning in multi-robot teams. It is focused
on finding which conditions lead to
diversity in a learning team and measuring it.
Several tasks for teams including
formation, foraging and soccer will be investigated.
Soccer, the first of these examined so far,
is interesting because most people are familiar with the
game and with the various specialized roles human players serve
on a team.
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