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65554 |
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|a Mather, T. William
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|a Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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|a Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
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|a Frazzoli, Emilio
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|a Frazzoli, Emilio
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|a Hsieh, M. Ani
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|a Frazzoli, Emilio
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|a Towards Dynamic Team Formation for Robot Ensembles
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|b Institute of Electrical and Electronics Engineers,
|c 2011-08-30T19:02:47Z.
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|z Get fulltext
|u http://hdl.handle.net/1721.1/65554
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|a We present an investigation of dynamic team formation strategies for robot ensembles performing a collection of single and two-robot tasks. Specifically, we consider the abstract "stick and pebble" problem, as a variation of the "stick pulling" problem discussed in the literature. We present a formulation of the dynamic team formation problem that is independent of ensemble size and develop a macroscopic analytical description of the ensemble dynamics. The macroscopic model is then used to determine the optimal teaming strategy for two different performance metrics. We present agent-based simulation results to support the validity of our macroscopic analysis.
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|a Article
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|t 2010 IEEE International Conference on Robotics and Automation (ICRA)
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