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ICRA
2010
IEEE

Towards dynamic team formation for robot ensembles

9 years 25 days ago
Towards dynamic team formation for robot ensembles
Abstract— We present an investigation of dynamic team formation strategies for robot ensembles performing a collection of nd two-robot tasks. Specifically, we consider the abstract “stick and pebble” problem, as a variation of the “stick pulling” problem discussed in the literature. We present a formulation of the dynamic team formation problem that is independent of ensemble size and develop a macroscopic analytical description of the ensemble dynamics. The macroscopic model is then used to determine the optimal teaming strategy for two different performance metrics. We present agent-based simulation results to support the validity of our macroscopic analysis.
T. William Mather, M. Ani Hsieh, Emilio Frazzoli
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors T. William Mather, M. Ani Hsieh, Emilio Frazzoli
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