Authors
Alex Nguyen, Luis Guerrero-Bonilla, Faryar Jabbari, Magnus Egerstedt
Abstract
This paper introduces a novel architecture, particularly designed with heterogeneous multi-robot teams in mind, where pairwise collaborative arrangements can result in new capabilities for the participants. Our architecture employs a finite state machine (FSM) as the decision-making mechanism of the individual robots and a centralized queue, termed the “help queue”, to form suitable pairings between help-needing robots and help-providing robots based on a user-specified selection strategy. Additionally, the FSM’s complexity is independent of the team size, which ensures our approach is scalable.
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Supporting Media