Title :
Cooperation among multiple mobile robots using intention inference
Author :
Sugie, Hiroshi ; Inagaki, Yasuhiro ; Ono, Shuichiro ; Aisu, Hideyuki ; Unemi, Tatsuo
Author_Institution :
Lab. for Int. Fuzzy Eng. Res., Yokohama, Japan
Abstract :
This paper describes a behavior-decision method using intention inference for multiple mobile robots. The robots infer other robots´ intentions from observation of the situation and others´ behavior to settle conflicts and cooperate in accomplishing the tasks. Since this method frees the robots from detailed communication, it saves costs. Also the robots can use communication functions for other purposes. The robots can adapt to dynamic environments because they can change their plans flexibly according to the situation. If the inference rules used by the robots are made similar to the rules humans use, this method can be applied to cooperation between humans and robots. Using the method, an object placement system has been developed. In this system, the robots share tasks, transport an object cooperatively, and avoid collisions. To illustrate the performance of the system, simulations and experiments were carried out
Keywords :
cooperative systems; inference mechanisms; intelligent control; mobile robots; path planning; behavior-decision method; dynamic environment adaptation; intention inference; multiple mobile robots cooperation; object placement system; task sharing; Collision avoidance; Costs; Humans; Laboratories; Mobile communication; Mobile robots; Robot sensing systems; Testing; Transportation; Uncertainty;
Conference_Titel :
Fuzzy Systems, 1995. International Joint Conference of the Fourth IEEE International Conference on Fuzzy Systems and The Second International Fuzzy Engineering Symposium., Proceedings of 1995 IEEE Int
Conference_Location :
Yokohama
Print_ISBN :
0-7803-2461-7
DOI :
10.1109/FUZZY.1995.409906