Publication

Guiding and regrouping people missions in urban areas using cooperative multi-robot task allocation

Conference Article

Conference

IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

Edition

15th

Pages

2682-2690

Doc link

http://www.etfa2010.org/index.php?option=com_content&view=article&id=103&Itemid=94

File

Download the digital copy of the doc pdf document

Abstract

This article presents a novel approach for solving people guidance in urban settings supported in Multi-Robot Task Allocation. The developed architecture overcomes some of the limitations of existing approaches, which are either tailored to tightly bounded environments, or based on unrealistic human behaviors. In particular we define a “Selfish Task Allocation”, the novelty of this proposal is the ability of robots to naturally cooperate if they need to do so, without the need to pre-set the interaction between them by an operator. Some simulated experiments about people guidance where robots are able to respond to real situations are presented; the failure of some robots, the group splitting up, people leaving the group, the addition of new elements to the team or the appearance of new tasks (lead other groups) are some of the situations being considered.

Categories

mobile robots, multi-robot systems, service robots.

Scientific reference

A. Garrell Zulueta, O. Sandoval, J. M. Mirats Tur and A. Sanfeliu. Guiding and regrouping people missions in urban areas using cooperative multi-robot task allocation, 15th IEEE International Conference on Emerging Technologies and Factory Automation, 2010, Bilbao, pp. 2682-2690.