Interference as a Tool for Designing and Evaluating Multi-Robot Controllers

Dani Goldberg, Maja J. Mataric

Designing and implementing cooperative group behaviors for robots is considered something of a black art involving an extensive amount of reprogramming and parameter adjustment. What seems to be lacking is a pragmatic, practical, general-purpose tool that would both guide the design and structure the evaluation of controllers for distributed real-world multi-robot tasks. In this paper, we propose the use of interference between robots as one such simple tool for designing and evaluating multi-robot controllers. We explore how key issues in multi-robot control can be addressed using interference, a directly measurable property of a multi-robot system. We discuss how behavior arbitration schemes, i.e., the choice of controllers, can be made and adjusted using interference. As an experimental example, we demonstrate three different implementations of a collection clean-up (foraging) task using four physical mobile robots, and present analyses of the experimental data gathered from trials of all three implementations.

This page is copyrighted by AAAI. All rights reserved. Your use of this site constitutes acceptance of all of AAAI's terms and conditions and privacy policy.