Managing Different Types of Interactions among Robots

The paper summarizes different types of interaction (communication, cooperation and coordination) in multi-robot-systems. Robot interaction can be part of perception, planning, and execution. It is possible to distinguish physical interactions between robots and environment and interactions for joint information processing between the robots. Physical interactions can be intended or can be an unexpected side effect. For controlling physical interactions either local information processing strategies (compensation, etc.) or joint information processing strategies (resource management, closed kinematic control, etc.) can be used. The strategies described here have been developed and implemented for the Karlsruhe Autonomous Cooperative Robot Systems. They are based on distributed planning, dynamically changing control architectures and local communication.

[1]  David J. Musliner,et al.  CIRCA: a cooperative intelligent real-time control architecture , 1993, IEEE Trans. Syst. Man Cybern..

[2]  Paul Freedman,et al.  Interprocess communication for distributed robotics , 1987, IEEE Journal on Robotics and Automation.

[3]  Tim Lüth,et al.  A Distributed Control Architecture for Autonomous Robot Systems , 1994, Modelling and Planning for Sensor Based Intelligent Robot Systems.

[4]  Claude Le Pape.  A combination of centralized and distributed methods for multi-agent planning and scheduling , 1990, ICRA.

[5]  Jing Wang,et al.  A Medium Access Protocol (CSMA/CD-W) Supporting Wireless Inter-Robot Communication in Distributed Robotic Systems , 1994 .

[6]  Paul Freedman,et al.  Time, Petri nets, and robotics , 1991, IEEE Trans. Robotics Autom..

[7]  Damian M. Lyons,et al.  Assembly and task planning: a taxonomy , 1994, IEEE Robotics & Automation Magazine.

[8]  Tim Lüth,et al.  Verteilte Robotersteuerung mit strukturadaptiven Steuerungsarchitekturen , 1995, AMS.

[9]  Tim C. Lueth,et al.  Dynamic task mapping in a real-time controller for distributed cooperating robot systems , 1996 .

[10]  Takeo Kanade,et al.  Modelling and Planning for Sensor Based Intelligent Robot Systems [Dagstuhl Workshop, October 24-28, 1994] , 1995, Modelling and Planning for Sensor Based Intelligent Robot Systems.

[11]  Gul Agha,et al.  Concurrent programming using actors , 1987 .

[12]  A. Hormann.  A Petri net based control architecture for a multi-robot system , 1989, Proceedings. IEEE International Symposium on Intelligent Control 1989.

[13]  Wolfgang Meier,et al.  A control architecture for an advanced fault-tolerant robot system , 1989, Robotics Auton. Syst..

[14]  Jun'ichi Takeno,et al.  Coordinating Mobile Robots By Applying Traffic Rules , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.