Towards dynamic team formation for robot ensembles
We present an investigation of dynamic team formation strategies for robot ensembles performing a collection of single and two-robot tasks. Specifically, we consider the abstract "stick and pebble" problem, as a variation of the "stick pulling" problem discussed in the literature...
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| creator | Mather, T William Hsieh, M Ani Frazzoli, Emilio |
| description | We present an investigation of dynamic team formation strategies for robot ensembles performing a collection of single and 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. |
| doi_str_mv | 10.1109/ROBOT.2010.5509490 |
| format | Conference Proceeding |
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We present agent-based simulation results to support the validity of our macroscopic analysis.</description><subject>Actuators</subject><subject>Aerodynamics</subject><subject>Chemical technology</subject><subject>Laboratories</subject><subject>Mechanical engineering</subject><subject>Orbital robotics</subject><subject>Resource management</subject><subject>Robot control</subject><subject>Robot sensing systems</subject><subject>Robotics and automation</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>9781424450381</isbn><isbn>1424450381</isbn><isbn>1424450403</isbn><isbn>9781424450404</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj8tqwzAURNUX1EnzA-3GP-D06kqypGUb-oKAobjQXdDjClziuFiGkr9vSr2aGQ4MM4zdclhzDvb-vXls2jXCKSsFVlo4YwsuUUoFEsQ5K1BpXYHRnxdsZbWZmTD8khUcFFRSo71mi5y_AECIui4YtsOPG2Mu4_Hg-i6UE7m-TMPYu6kbDn-uHAc_TCUdMvV-T_mGXSW3z7Sadck-np_azWu1bV7eNg_bqkNup8oa0koG4BFs8s7GqAEdJiOkD8GL2tUxmailEhRInab6RNH6FBLWGlEs2d1_b0dEu--x69143M3fxS9KkUnn</recordid><startdate>20100101</startdate><enddate>20100101</enddate><creator>Mather, T William</creator><creator>Hsieh, M Ani</creator><creator>Frazzoli, Emilio</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>20100101</creationdate><title>Towards dynamic team formation for robot ensembles</title><author>Mather, T William ; Hsieh, M Ani ; Frazzoli, Emilio</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i219t-98e754c01d09fba9dd702a2f834bccb36a6df8d7453ece5445bfed9bfcf267223</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Actuators</topic><topic>Aerodynamics</topic><topic>Chemical technology</topic><topic>Laboratories</topic><topic>Mechanical engineering</topic><topic>Orbital robotics</topic><topic>Resource management</topic><topic>Robot control</topic><topic>Robot sensing systems</topic><topic>Robotics and automation</topic><toplevel>online_resources</toplevel><creatorcontrib>Mather, T William</creatorcontrib><creatorcontrib>Hsieh, M Ani</creatorcontrib><creatorcontrib>Frazzoli, Emilio</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Mather, T William</au><au>Hsieh, M Ani</au><au>Frazzoli, Emilio</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Towards dynamic team formation for robot ensembles</atitle><btitle>2010 IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>2010-01-01</date><risdate>2010</risdate><spage>4970</spage><epage>4975</epage><pages>4970-4975</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>9781424450381</isbn><isbn>1424450381</isbn><eisbn>1424450403</eisbn><eisbn>9781424450404</eisbn><abstract>We present an investigation of dynamic team formation strategies for robot ensembles performing a collection of single and 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.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.2010.5509490</doi><tpages>6</tpages><oa>free_for_read</oa></addata></record> |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Actuators Aerodynamics Chemical technology Laboratories Mechanical engineering Orbital robotics Resource management Robot control Robot sensing systems Robotics and automation |
| title | Towards dynamic team formation for robot ensembles |
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