Multi-robot task allocation using affect

vi Chapter One Introduction 1 1.1 Multi-Robot Task Allocation 1 1.2 Motivating Example 3 1.3 Research Question 6 1.4 Why Use Affect? 6 1.5 Communications Challenge 8 1.6 The Need for a Fitness Function 10 1.7 Contributions 10 1.7.1 Artificial Intelligence 10 1.7.2 Robotics 11 1.7.3 Cognitive Psychology 12 1.8 Organization of Thesis 12 Chapter Two Related Work 14 2.1 Multi-Robot Task Allocation 15 2.1.1 Motivation-based: ALLIANCE 15 2.1.1.1 Other Motivation-based Allocation Research 20 2.1.2 Auctions: MURDOCH 20 2.1.2.1 Other Auction-based Approaches 23 2.1.2.2 Utility Metrics 24 2.1.3 Other Approaches 24 2.2 Distributed Sensing 26 2.3 Emotions and Affective Computing 30 2.3.1 Emotions in Robots 30 2.3.2 OCC Model of Emotions 31 2.4 Foundation of Approach 34 2.5 Summary 34 Chapter Three Approach 38 3.1 Robust Communication Protocol 38 3.2 Formal Description of Affective Recruitment 41 3.3 Multivariate Metric Evaluation Functions 46 3.4 Summary 48

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