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A Decentralized Approach to Cooperative Situation Assessment in Multi-Robot Systems

A Decentralized Approach to Cooperative Situation Assessment in Multi-Robot Systems
A Decentralized Approach to Cooperative Situation Assessment in Multi-Robot Systems
To act effectively under uncertainty, multi-robot teams need to accurately estimate the state of the environment. Although individual robots, with uncertain sensors, may not be able to accurately determine the current situation, the team as a whole should have the capability to perform situation assessment. However, sharing all information with all other team mates is not scalable nor is centralization of all information possible. This paper presents a decentralized approach to cooperative situation assessment that balances use of communication bandwidth with the need for good situation assessment. When a robot believes locally that a particular plan should be executed, it sends a proposal for that plan, to one of its team mates. The robot receiving the plan proposal, can either agree with the plan and forward it on, or it can provide sensor information to suggest that an alternative plan might have higher expected utility. Once sufficient robots agree with the proposal, the plan is initiated. The algorithm successfully balances the value of cooperative sensing against the cost of sharing large volumes of information. Experiments verify the utility of the approach, showing that the algorithm dramatically out-performs individual decisionmaking and obtains performance similar to a centralized approach
cooperative perception, robotics, situation assessment
Settembre, Giuseppe
2f484bd7-1ae7-4b68-b0b4-498f03a11cee
Scerri, Paul
b7646bcf-991e-4a29-aec1-15ed329ba847
Farinelli, Alessandro
d2f26070-f403-4cae-b712-7097cb2e3fc6
Sycara, Katia
df200c43-d34d-4093-bb4e-493fea2d0732
Nardi, Daniele
f5f23c25-a314-4197-8f6c-034ac35caf5b
Settembre, Giuseppe
2f484bd7-1ae7-4b68-b0b4-498f03a11cee
Scerri, Paul
b7646bcf-991e-4a29-aec1-15ed329ba847
Farinelli, Alessandro
d2f26070-f403-4cae-b712-7097cb2e3fc6
Sycara, Katia
df200c43-d34d-4093-bb4e-493fea2d0732
Nardi, Daniele
f5f23c25-a314-4197-8f6c-034ac35caf5b

Settembre, Giuseppe, Scerri, Paul, Farinelli, Alessandro, Sycara, Katia and Nardi, Daniele (2008) A Decentralized Approach to Cooperative Situation Assessment in Multi-Robot Systems. International Conference on Autonomous Agents and Multiagent Systems, Portugal.

Record type: Conference or Workshop Item (Other)

Abstract

To act effectively under uncertainty, multi-robot teams need to accurately estimate the state of the environment. Although individual robots, with uncertain sensors, may not be able to accurately determine the current situation, the team as a whole should have the capability to perform situation assessment. However, sharing all information with all other team mates is not scalable nor is centralization of all information possible. This paper presents a decentralized approach to cooperative situation assessment that balances use of communication bandwidth with the need for good situation assessment. When a robot believes locally that a particular plan should be executed, it sends a proposal for that plan, to one of its team mates. The robot receiving the plan proposal, can either agree with the plan and forward it on, or it can provide sensor information to suggest that an alternative plan might have higher expected utility. Once sufficient robots agree with the proposal, the plan is initiated. The algorithm successfully balances the value of cooperative sensing against the cost of sharing large volumes of information. Experiments verify the utility of the approach, showing that the algorithm dramatically out-performs individual decisionmaking and obtains performance similar to a centralized approach

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More information

Accepted/In Press date: 8 February 2008
Additional Information: Event Dates: May 2008
Venue - Dates: International Conference on Autonomous Agents and Multiagent Systems, Portugal, 2008-05-01
Keywords: cooperative perception, robotics, situation assessment
Organisations: Agents, Interactions & Complexity

Identifiers

Local EPrints ID: 265170
URI: http://eprints.soton.ac.uk/id/eprint/265170
PURE UUID: 004a75fb-c262-4a5a-93d7-ea500f2b7eb7

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Date deposited: 09 Feb 2008 15:42
Last modified: 18 Jul 2017 07:28

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