CAREER: Autonomous Reorganization of Cooperative Robotic Teams for Robustness

这个项目的目标是提供团队的合作机器人与他们的组织结构和能力的适当的知识，沿着与有效的推理机制，让他们重新组织“的飞行”，以实现他们的整体团队目标，更有效地面对不断变化的环境和团队能力。 我们的目标是建立组织推理的一个关键组成部分，在一个新的方法来建立高度强大的合作机器人团队。 为了实现这一目标，新的组织知识和推理技术必须纳入实用的方法和工具，设计和开发真实的世界合作机器人系统。 本研究的技术目标是：（1）开发一个团队组织模型，描述目标、角色和单个团队成员等组织概念是如何相互关联的;（2）开发策略、技术和算法，用于发现何时需要重组，以及重组的有效技术，以使团队达到目标;以及（3）将这些方法和技术编入自动化工具集中，以确保组织知识被捕获并转换成与高效推理技术兼容的形式。 在研究中开发的理论，技术，方法和工具将用于提高本科生以及研究生课程的多智能体和协作机器人系统。 此外，还计划开展一系列旨在影响非该项目具体成员的活动，重点是从小学到高中的大学预科学生。我们计划参加几个夏季研讨会，以激励大学预科学生选择科学和技术专业，并达到特定的代表性不足的群体。

The objective of this project is to provide teams of cooperative robots with the appropriate knowledge of their organizational structure and capabilities, along with efficient reasoning mechanisms, to allow them to reorganize "on-the-fly" to achieve their overall team goals more efficiently and effectively in the face of a changing environment and team capabilities. The goal is to establish organizational reasoning as a key component in a new approach to building highly robust cooperative robotic teams. To realize this goal, the new organizational knowledge and reasoning techniques must be incorporated into practical methods and tools for designing and developing real world cooperative robotic systems. The technological objectives of this research will be to (1) develop a team organizational model that describes how organizational concepts such as goals, roles, and individual team members are related, (2) develop strategies, techniques, and algorithms for discovering when reorganization is required as well as efficient techniques for reorganizing to allow teams to reach their goals, and (3) codify these methods and techniques in an automated toolset to ensure that the organizational knowledge is captured and transformed into a form compatible with efficient reasoning techniques. The theories, techniques, methods, and tools developed in research will be used to enhance both undergraduate as well as graduate curriculum in multiagent and cooperative robotic systems. Also, a series of activities designed to impact persons not specifically part of the project are planned with a strong emphasis on pre-college students from elementary to high school. We plan to participate in several summer workshops to motivate pre-college students to select science and technology majors and to reach specific underrepresented groups.