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dc.contributor.authorParker, Lynne E.en_US
dc.date.accessioned2004-10-20T20:24:10Z
dc.date.available2004-10-20T20:24:10Z
dc.date.issued1994-02-01en_US
dc.identifier.otherAITR-1465en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/7056
dc.description.abstractThis report addresses the problem of achieving cooperation within small- to medium- sized teams of heterogeneous mobile robots. I describe a software architecture I have developed, called ALLIANCE, that facilitates robust, fault tolerant, reliable, and adaptive cooperative control. In addition, an extended version of ALLIANCE, called L-ALLIANCE, is described, which incorporates a dynamic parameter update mechanism that allows teams of mobile robots to improve the efficiency of their mission performance through learning. A number of experimental results of implementing these architectures on both physical and simulated mobile robot teams are described. In addition, this report presents the results of studies of a number of issues in mobile robot cooperation, including fault tolerant cooperative control, adaptive action selection, distributed control, robot awareness of team member actions, improving efficiency through learning, inter-robot communication, action recognition, and local versus global control.en_US
dc.format.extent61755305 bytes
dc.format.extent13187303 bytes
dc.format.mimetypeapplication/postscript
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.relation.ispartofseriesAITR-1465en_US
dc.titleHeterogeneous Multi-Robot Cooperationen_US


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