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Gal A. Kaminka and Inna Frenkel.
Integration of Coordination Mechanisms in the BITE Multi-Robot Architecture. In Proceedings of IEEE International
Conference on Robotics and Automation (ICRA-07), 2007.
Recent years are seeing a renewed interest in general multi-robot architectures, capable of automating coordination. However, few architectures explore integration of multiple coordination mechanisms. Thus the question of how to best integrate coordination mechanisms is left open. This paper focuses on the micro-kernel integration approach used in BITE (Bar Ilan Teamwork Engine), a multi-robot behavior-based architecture. This approach allows the developer to plug in coordination mechanisms (teamwork behaviors) to be used depending on the context of execution. BITE imposes constraints on the specification of taskwork behaviors, which allow BITE's control algorithm to automatically determine sequencing and task-allocation points during task execution. At such points, teamwork behaviors (known as interaction behaviors) are triggered to automate the coordination processes. We argue that BITE's approach is preferable to the methodology of existing architectures, and provide analysis of experiments in using BITE with Sony AIBO robots, to support our argument.
@InProceedings{icra07bite,
author = {Gal A. Kaminka and Inna Frenkel},
title = {Integration of Coordination Mechanisms in the {BITE} Multi-Robot Architecture},
OPTcrossref = {},
OPTkey = {},
booktitle = ICRA-07,
OPTpages = {In press},
year = {2007},
abstract = {
Recent years are seeing a renewed interest in general multi-robot
architectures, capable of automating coordination. However, few architectures explore
integration of multiple coordination mechanisms. Thus the
question of how to best integrate coordination mechanisms is left open.
This paper focuses on the micro-kernel integration approach used in BITE (Bar Ilan Teamwork Engine),
a multi-robot behavior-based architecture. This approach allows the developer to plug in
coordination mechanisms (teamwork behaviors) to be used depending on the context of execution.
BITE imposes constraints on the specification of taskwork behaviors, which allow BITE's
control algorithm to automatically determine sequencing and task-allocation points during task
execution. At such points, teamwork behaviors
(known as interaction behaviors) are triggered to automate the coordination processes. We
argue that BITE's approach
is preferable to the methodology of existing architectures, and provide analysis
of experiments in using BITE with Sony AIBO robots, to support our argument.
},
wwwnote = {},
OPTeditor = {},
OPTvolume = {},
OPTnumber = {},
OPTseries = {},
OPTaddress = {},
OPTmonth = {},
OPTorganization = {},
OPTpublisher = {},
OPTannote = {}
}
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