Plan-Based Configuration of a Group of Robots

R. Lundh, L. Karlsson and A. Saffiotti

We consider groups of autonomous robots in which robots can help each other by offering information-producing functionalities. A functional configuration} is a way to allocate and connect functionalities among robots. In general, different configurations can be used to solve the same task, depending on the current situation. In this paper, we define the idea of functional configuration, and we propose a plan-based approach to automatically generate a preferred configuration for a given task, environment, and set of resources. To illustrate these ideas, we show a simple experiment in which two robots mutually help each-other to cross a door.
R. Lundh, L. Karlsson and A. Saffiotti. Plan-Based Configuration of a Group of Robots. Proc. of the 17th European Conference on Artificial Intelligence (ECAI). Riva del Garda, IT, 2006.
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