Towards Dynamic Team Formation for Robot Ensembles
Name
Frazzoli-2010-Towards dynamic team formation for robot ensembles.pdf
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867.27 KB
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Checksum (MD5)
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Author(s)
Mather, T. William
Hsieh, M. Ani
Frazzoli, Emilio
Date Issued
July 2010
Journal
2010 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers
Citation
Mather, T.W., M.A. Hsieh, and E. Frazzoli. “Towards Dynamic Team Formation for Robot Ensembles.” Robotics and Automation (ICRA), 2010 IEEE International Conference On. 2010. 4970-4975. © Copyright 2010 IEEE
Version
Final published version
Abstract
We present an investigation of dynamic team formation strategies for robot ensembles performing a collection of single and two-robot tasks. Specifically, we consider the abstract “stick and pebble” problem, as a variation of the “stick pulling” problem discussed in the literature. We present a formulation of the dynamic team formation problem that is independent of ensemble size and develop a macroscopic analytical description of the ensemble dynamics. The macroscopic model is then used to determine the optimal teaming strategy for two different performance metrics. We present agent-based simulation results to support the validity of our macroscopic analysis.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509490
