AAAI Publications, Twenty-Second International FLAIRS Conference

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HAMR: A Hybrid Multi-Robot Control Architecture
Daylond James Hooper, Gilbert Peterson

Last modified: 2009-03-16

Abstract


Highly capable multiple robot architectures often resort to micromanagement to provide enhanced cooperative abilities, sacrificing individual autonomy. Conversely, multi-robot architectures that maintain individual autonomy are often limited in their cooperative abilities.  This article presents a modified three layer architecture that solves both of these issues.  The addition of a Coordinator layer to a three-layered approach provides a platform-independent interface for coordination on tasks and takes advantage of individual autonomy to improve coordination capabilities.  This reduces communication overhead versus many multi-robot architecture designs and allows for more straightforward resizing of the robot collective and increased individual autonomy.

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