Integrated Mission Specification and Task Allocation for Robot Teams - Part 1: Design and Implementation

摘要

As the capabilities, range of missions, and the size of robot teams increase, the ability for a human operator to account for all the factors in these complex scenarios can become exceedingly difficult. Our previous research has studied the use of case-based reasoning (CBR) tools to assist a user in the generation of multi-robot missions. These tools, however, typically assume that the robots available for the mission are of the same type (i.e., homogeneous). We loosen this assumption through the integration of contract-net protocol (CNP) based task allocation coupled with a CBR-based mission specification wizard. Two alternative designs are explored for combining case-based mission specification and CNP-based team allocation as well as the tradeoffs that result from the selection of one of these approaches over the other.