A behavior based layered, hybrid, control architecture for robot/sensor networks


IEEE International Conference on Robotics and Automation (ICRA), Florida, United States Of America, 15 - 19 May 2006, pp.206-207 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/robot.2006.1641185
  • City: Florida
  • Country: United States Of America
  • Page Numbers: pp.206-207
  • Keywords: layered, hybrid control, robot/sensor networks, market based auction task allocation, behavior based control
  • Middle East Technical University Affiliated: Yes


This work focuses on the design and implementation of a behavior based, layered, cooperative control of robots in a sensor network, hybrid in combining subsumption and motor schema layers. Behaviors at different level of resolution are not only coordinated by the motor schema layers but also through units called "evaluators" which fuses state and activity of behaviors according to priorities and cross-couplings in runtime. Concurrent, sequential, asynchronous multi-robot task allocation is based on "market based auction algorithm" with a novel efficient non-linear time varying fitness calculation enhancing fairness and fault tolerance. A 3D simulation environment is developed to test the proposed architecture for fairness, fault tolerance, mission accomplishment rates, and coverage.