Goal-aware team affiliation in collectives of autonomous robots

Lukas Esterle*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Collaboration in teams is essential in robot collectives. In order to achieve goals, individual robots would otherwise not be able to accomplish. In a such a distributed and highly dynamic system, a global coordination might not be possible. In this paper, we analyse static team affiliations, defined at deployment time, and compare its efficiency against dynamic team affiliations generated during runtime using random selection. Since operators might not be able to determine all dynamic aspects of the given environment at the time of deployment, we further propose a novel, goal-aware approach to affiliate each robot with a team. This approach brings together insights from biology, sociology, and psychology. In this novel approach, robots only operate on aggregated information from the network which is potentially changing during runtime. Finally, we also introduce an approach to select a team affiliation during runtime using machine learning techniques. Using 60,000 randomised scenarios, we analyse the efficiency and further discuss the different benefits and drawbacks of the proposed approaches.

Original languageEnglish
Title of host publicationProceedings - 12th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2018
PublisherIEEE
Pages90-99
Number of pages10
Volume2018-September
ISBN (Electronic)9781538651728
ISBN (Print)978-1-5386-5173-5
DOIs
Publication statusPublished - 15 Jan 2019
Event12th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2018 - Trento, Italy
Duration: 3 Sep 20187 Sep 2018

Publication series

Name2018 IEEE 12th International Conference on Self-Adaptive and Self-Organizing Systems (SASO)
PublisherIEEE
ISSN (Print)1949-3673
ISSN (Electronic)1949-3681

Conference

Conference12th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2018
CountryItaly
CityTrento
Period3/09/187/09/18

Keywords

  • collaboration
  • collectives
  • cooperation
  • division of labour
  • goal awareness
  • robotic systems
  • team affiliation

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  • Cite this

    Esterle, L. (2019). Goal-aware team affiliation in collectives of autonomous robots. In Proceedings - 12th IEEE International Conference on Self-Adaptive and Self-Organizing Systems, SASO 2018 (Vol. 2018-September, pp. 90-99). [8614283] (2018 IEEE 12th International Conference on Self-Adaptive and Self-Organizing Systems (SASO)). IEEE. https://doi.org/10.1109/SASO.2018.00020