This work demonstrates the application of the distributed behavior-based approach 1] to generating a multi-robot controller for a group of mobile robots performing a clean-up and collection task. The paper studies a territorial approach to the task in which the robots are assigned individual territories that can be dynamically resized if one of the robots missfunctions, permitting the completion of the task. The described controller is implemented on a group of four IS Robotics R2e mobile robots. Using a collection of experimental robot data, we empirically derive and demonstrate most e ective foraging in our domain, and show the decline of performance of the space division strategy with increased group size.
A more recent work REF suggests a distributed behavior-based approach to the control of a group of mobile robots performing a clean-up and collection task, empirically demonstrating its performance.
Territorial Multi-Robot Task Division
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Computer Science Mathematics