The work presented here investigates the impact of certain environmental parameters on the performance of a multi-robot team conducting exploration tasks. Experiments were conducted with physical robots and simulated robots, and a diverse set of metrics was computed. The experiments were structured to highlight several factors: (a) single-robot versus multi-robot tasks; (b) independent versus dependent (or “constrained”) tasks; and (c) static versus dynamic task allocation modes. Four different task allocation mechanisms were compared, in two different exploration scenarios, with two different starting configurations for the robot team. The results highlight the distinctions between parameterised environments (characterised by the factors above, the robots’ starting positions and the exploration scenario) and the effectiveness of each task allocation mechanism, illustrating that some mechanisms perform statistically better in particular environment parameterisations.
Evaluating Multi-Robot Teamwork in Parameterised Environments
2016-06-21
Schneider , E , Sklar , E & Parsons , S 2016 , Evaluating Multi-Robot Teamwork in Parameterised Environments . in Towards Autonomous Robotic Systems : Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) . vol. 9716 , Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) , vol. 9716 , pp. 301-313 , 17th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2016 , Sheffield , United Kingdom , 26/06/2016 . https://doi.org/10.1007/978-3-319-40379-3_32
Article/Chapter (Book)
Electronic Resource
English
DDC: | 629 |
Using Discrete Event Simulation to Model Multi-Robot Multi-Operator Teamwork
British Library Conference Proceedings | 2012
|Parameterised Controller Design for Dominant Multivariable Systems
British Library Conference Proceedings | 1994
|Aeroelastic behaviour of a parameterised circulation-controlled wing
Springer Verlag | 2019
|Teamwork in high-risk environments analogous to space
AIAA | 1990
|Parameterised Geometric Modelling - The New Aircraft (Pre)- Design Process
British Library Conference Proceedings | 2001
|