Dynamic Task Priority Planning for Null-Space Behavioral Control of Multi-Agent Systems

The null-space-based behavioral control for autonomous robotic systems

In this paper anewbehavior-basedapproach for the control of autonomous robotic systems is proposed. The so-called null-space-based behavioral (NSB) control differs from the other existing methods in the behavioral coordination, i.e., in the way the outputs of the single elementary behaviors are combined to compose a complex behavior. The proposed approach is compared with the main existing appr...

Task allocation for multi-agent systems in dynamic environments

Multi-agent systems are frequently used in real world applications, with an increasing amount of agents and complexity. In order to accomplish the goals of the system, agents must cooperate using limited communication and knowledge of the environment. Task allocation for multi-agent systems in itself is a difficult problem and when both the tasks and the environment are dynamic, a robust yet ef...

Equilibrium Strategies for Task Allocation in Dynamic Multi-Agent Systems

Dynamic Networks for Motion Planning in Multi-Robot Space Systems

A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. The framework is applicable to both planetary rover and free-floating space robot applications. To combine the respective advantages of centralized and decentralized planning, this framework is based on th...

Decomposition in Task Based Multi-Agent Planning Systems

We discuss a general framework for coordinating self-interested agents in the pre-planning phase that can be used to decompose multi-agent task based planning problems into independent subproblems. The decomposition allows the agents to solve their part of the problem without the need to interact with other agents and such that the resulting plans can be easily combined into a joint plan. We il...