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

Akin B., ERKMEN A. M., ERKMEN İ.

IEEE International Conference on Robotics and Automation (ICRA), Florida, Amerika Birleşik Devletleri, 15 - 19 Mayıs 2006, ss.206-207 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/robot.2006.1641185
  • Basıldığı Şehir: Florida
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.206-207
  • Anahtar Kelimeler: layered, hybrid control, robot/sensor networks, market based auction task allocation, behavior based control
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

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.