Coordinating Mobile Robot Group Behavior Using a Model of Interaction Dynamics

Coordinating Mobile Robot Group Behavior Using a Model of Interaction Dynamics
unpublished ( gzipped Postscript - 263 KB )

Abstract: In this paper we show how various levels of coordinated behavior may be achieved in a group of mobile robots by using a model of the interaction dynamics between a robot and its environment. We present augmented Markov models (AMMs) as a tool for capturing such interaction dynamics on-line and in real-time, with little computational and storage overhead. We demonstrate the application of the model for resolving group coordination issues arising from three sources: individual performance, group affiliation, and group performance.