Gal A. Kaminka's Publications

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On the Use of Teamwork Software for Multi-Robot Formation Control

Gal A. Kaminka, Meytal Traub, Dan Erusalimchik, and Yehuda Elmaliach. On the Use of Teamwork Software for Multi-Robot Formation Control. In AAMAS workshop on Autonomous Robots and Multirobot Systems (ARMS), 2013.

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Abstract

Multi-robot formations are of increasing interest to robotics researchers (as a canonical research problem), and to robot system builders (e.g.,for unmanned convoys). Indeed, there exists vast literature on various techniques for maintaining formations in a variety of settings, and for a variety of robots. However, little attention has been given to the possibility of using multiple formation controllers, integrated together for greater formation robustness. In this paper, we make two contributions. First, we demonstrate the possibility of integrating different formation maintenance methods with complementary strengths. Second, we address a key challenge in integration, that of distributed joint selection the formation method to use at any given time. We demonstrate how to utilize a teamwork software architecture to automate this joint selection, and evaluate the benefits of using such an architecture both for robustness, as well as for reducing development effort.

Additional Information

BibTeX

@InProceedings{arms13,
 author = {Gal A. Kaminka and Meytal Traub and Dan Erusalimchik and Yehuda Elmaliach},
 title  = {On the Use of Teamwork Software for Multi-Robot Formation Control},
 booktitle = {AAMAS workshop on Autonomous Robots and Multirobot Systems (ARMS)},
 year = {2013},
  wwwnote = {}, 
 abstract = {Multi-robot formations are of increasing interest to robotics researchers 
  (as a canonical research problem), and to robot system builders (e.g.,for unmanned convoys). 
  Indeed, there exists vast literature on various techniques for maintaining formations in a 
  variety of settings, and for a variety of robots. However, little attention has been given 
  to the possibility of using multiple formation controllers, integrated together for greater 
  formation robustness. In this paper, we make two contributions. First, we demonstrate the 
  possibility of integrating different formation maintenance methods with complementary strengths. 
  Second, we address a key challenge in integration, that of distributed joint selection the 
  formation method to use at any given time. We demonstrate how to utilize a teamwork software 
  architecture to automate this joint selection, and evaluate the benefits of using such an 
  architecture both for robustness, as well as for reducing development effort.
 },
}

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