Independent activity and local opportunity for dynamic robot team management in dangerous domains
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Date
2019
Authors
Fiawoo, Seth
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Abstract
Dangerous domains are a challenge for teams of heterogeneous robots, since robot losses may involve the loss of particular skills that might be rare in the domain.
Previous research has resulted in a framework that allows teams to rebalance and
recruit from the environment.
However, there is currently no consideration of
situations where agents may at times provide more useful work globally by not joining
a team, or situations where it might be discovered that types of work might be
associated with a given locality. My thesis extends this framework to give agents
the ability to refuse to join teams and work for times on their own, by considering
current satisfaction in the use of their skills, the likely rarity of their skills, and the
distribution of places those skills are used in the environment. I examine this work
in a simulated Urban Search and Rescue domain. My results show that in scenarios
where a robot’s special skills are rare and tasks requiring those skills are only available
at a few fixed locations in the environment, a robot is more useful if it suspends its
team commitment to make itself available to all teams.
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Keywords
Robotics, Multi-Robot Systems, Urban Search and Rescue, Heterogeneous Robot Teams, Robot Satisfaction, Rare Skills, Recruitment