Behavior Cooperation Based On Markers And Weighted Signals

In this paper we propose markers for coordinating behavior cooperation. Markers ground task-related data on sensor data flow. Behaviors command markers by specifying weights for the different possible command parameter values. Cooperation is achieved by combining the commands sent to the same marker. We discuss also multi-agent cooperation and propose a scheme for learning cooperative behaviors. Markers have an important role in multi-agent cooperation and learning. We present experiments on a control system that enables a real robot to help other robots in transferring objects.