Robotics Commons^™

A Modified Reactive Control Framework For Cooperative Mobile Robots, J. Salido, John M. Dolan, J. Hampshire, Pradeep K. Khosla

Pradeep K Khosla

An important class of robotic applications potentially involves multiple, cooperating robots: security or military surveillance, rescue, mining, etc. One of the main challenges in this area is effective cooperative control: how does one determine and orchestrate individual robot behaviors which result in a desired group behavior? Cognitive (planning) approaches allow for explicit coordination between robots, but suffer from high computational demands and a need for a priori, detailed world models. Purely reactive approaches such as that of Brooks are efficient, but lack a mechanism for global control and learning. Neither approach by itself provides a formalism capable of a sufficiently …