A Real-time World Model for Multi-Robot Teams with High-Latency Communication
Abstract
In this paper, we present in detail our approach to constructing a world model in a multi-robot team. We introduce two separate world models, namely an individual world model that stores one robot's state, and a shared world model that stores the state of the team. We present procedures to effectively merge information in these two world models in real-time. We overcome the problem of high communication latency by sharing information on an as-needed basis. The success of our world model approach is validated by experimentation in the robot soccer domain. The results show that a team using a world model that incorporates shared information is more successful at tracking a dynamic object in its environment than a team that does not use shared information.
BibTeX
@conference{Roth-2003-8801,author = {Maayan Roth and Douglas Vail and Manuela Veloso},
title = {A Real-time World Model for Multi-Robot Teams with High-Latency Communication},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2003},
month = {October},
volume = {3},
pages = {2494 - 2499},
}