A Descriptive Model of Robot Team and the Dynamic Evolution of Robot Team Cooperation

TL;DR

This paper introduces a quantitative dynamic evolution model for robot team cooperation, enabling prediction and optimization of cooperative behaviors amid changing task demands.

Contribution

It presents a novel, quantitative model of robot team cooperation dynamics based on organization structure, Markov processes, and Bayesian inference.

Findings

The model can generalize robot team behavior.

It allows prediction of cooperative relationships.

It facilitates optimization of team actions.

Abstract

At present, the research on robot team cooperation is still in qualitative analysis phase and lacks the description model that can quantitatively describe the dynamical evolution of team cooperative relationships with constantly changeable task demand in Multi-robot field. First this paper whole and static describes organization model HWROM of robot team, then uses Markov course and Bayesian theorem for reference, dynamical describes the team cooperative relationships building. Finally from cooperative entity layer, ability layer and relative layer we research team formation and cooperative mechanism, and discuss how to optimize relative action sets during the evolution. The dynamic evolution model of robot team and cooperative relationships between robot teams proposed and described in this paper can not only generalize the robot team as a whole, but also depict the dynamic evolving process quantitatively. Users can also make the prediction of the cooperative relationship and the action of the robot team encountering new demands based on this model. Journal web page & a lot of robotic related papers www.ars-journal.com