Emotion-based control of cooperating heterogeneous mobile robots

    Authors

    R. R. Murphy; C. L. Lisetti; R. Tardif; L. Irish;A. Gage

    Comments

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    Abbreviated Journal Title

    IEEE Trans. Robot. Autom.

    Keywords

    cooperative teams; deadlock; emotions; heterogeneous mobile robots; interdependent tasks; multirobot systems; Automation & Control Systems; Engineering, Electrical & Electronic; Robotics

    Abstract

    Previous experiences show that it is possible for agents such as robots cooperating asynchronously on a sequential task to enter deadlock, where one robot does not fulfill its obligations in a timely manner due to hardware or planning failure, unanticipated delays, etc. Our approach uses a formal multilevel hierarchy of emotions where emotions both modify active behaviors at the sensory-motor level and change the set of active behaviors at the schematic level. The resulting implementation of a team of heterogeneous robots using a hybrid deliberative/reactive architecture produced the desired emergent societal behavior. Data collected at two different public venues illustrate how a dependent agent selects new behaviors (e.g., stop serving, move to intercept the refiller) to compensate for delays from a subordinate agent (e.g., blocked by the audience). The subordinate also modifies the intensity of its active behaviors in response to feedback from the dependent agent. The agents communicate asynchronously through Knowledge Query and Manipulation Language via wireless Ethernet.

    Journal Title

    Ieee Transactions on Robotics and Automation

    Volume

    18

    Issue/Number

    5

    Publication Date

    1-1-2002

    Document Type

    Article

    Language

    English

    First Page

    744

    Last Page

    757

    WOS Identifier

    WOS:000179502600008

    ISSN

    1042-296X

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