Integrated Mission Specification and Task Allocation for Robot Teams - Part 2: Testing and Evaluation

Abstract

This work presents the evaluation of two mission
\nspecification and task allocation architectures. These architectures,
\ndescribed in part 1 of this paper, present novel means with
\nwhich to integrate a case-based reasoning (CBR) mission planner
\nwith contract net protocol (CNP) based task allocation. In the first
\ndesign, the CBR and runtime-CNP architecture, the case-based
\nmission planner generates mission plans that support necessary
\nbehaviors for CNP-based task allocation and execution. In the
\nsecond design, the CBR and premission-CNP architecture, task
\nallocation takes place during mission specification. The results
\nof an empirical evaluation of the CBR and runtime-CNP across
\nthree naval scenarios is described. Finally, we briefly describe
\nan earlier usability evaluation of the CBR and premission-CNP
\narchitecture using goals, operators, methods, and selection rules
\nmodeling.