Team-theoretic approach to cooperative multirobot systems: Humanitarian demining as a case study

Abstract

This article presents an approach to implement a cooperative multirobot system capable of solving complex problems. In this cooperative multirobot system, individual actions of the robots are controlled by the Belief-Desire-Intention model to endow the robots with the know-how needed to execute these actions deliberately. The cooperative behaviors between the heterogeneous robots are governed by the Team-Log theory to endow all the robots in the team with the know-how-to-cooperate and determine the team member's commitments to each other despite their different types, properties and goals. The proposed approach is tested for validity with the real life problem of humanitarian demining, as it requires cooperation between different robots to scan and clear a minefield from all the landmines.