The aim of this project is to investigate the design of robot control architectures suitable for cooperative multi-robot systems.
The approach is to develop a behaviour-based architecture capable of achieving a concrete cooperative task - cleaning our laboratory floor.
Our research has determined that to develop an architecture capable of highlevel cooperative behaviour and communication, first requires each robot be capable of highlevel behaviour and navigation.
The architecture will need to:
Limitations imposed by current robot sensing and sensor processing technology imply that robot behaviour easily becomes brittle as the level of abstraction is increased. For this reason we wish to investigate a continuum of cooperation schemes ranging in sophistication from lowlevel emergent cooperation up to planned cooperation using communication.
The system should degrade gracefully as the low-level cooperative schemes become fall-back strategies when more complex behaviour fails.
We have designed the Architecture for Behaviour Based Agents (ABBA) to address these requirements.