Cooperation and Communication in Multi-Agent Reactive Robotic Systems

本研究旨在研究多个自主机器人合作完成任务时的通信和控制需求，其中机器人采用分层组织方式，而不是采用更常见的分层（主/从）控制方式。每一种行为都是反应性的，与一组相对原始的运动图式相一致。最终的组织不需要明确的世界模型，并且应该更健壮，因此更适合在远程和/或危险环境中操作。一个关键的研究问题是评估这些系统在受限的智能体间通信条件下的运行效率。这样的代理操作起来可能更经济。研究的目标是理解和发展控制和通信机制，产生稳健而有效的合作机器人行为。

This research is to study communications and control requirements for multiple autonomous robots to cooperate in accomplishing a task, where the robots are organized heterarchically instead of using the more common hierarchical (master/slave) control. Each behaves reactively, in accordance with sets of relatively primitive motor schemas. The resulting organization does not require an explicit world model, and should be more robust and hence more suitable for operations in remote and/or hazardous environments. A key research issue is to evaluate the efficacy of such systems operating under constrained inter-agent communications. Such agents could be more economical to operate. The goal of the research is to understand and develop control and communication mechanisms that produce robust yet efficient cooperative robot behavior.