This paper describes a multi-robot system designed to use Bluetooth wireless communication to solve the “Honeybee” task. The Honeybee task is a simple search and navigation problem that requires a “guide” robot to lead another “blind” robot to a specific target within the environment. Topics discussed include advantages and disadvantages of using Bluetooth in robotics, as well as a variety of b...

This paper proposes a multi-robot coordination architecture for dynamic task, role and behavior selections. The proposed architecture employs the motivation of task, the utility of role, a probabilistic behavior selection and a team strategy for efficient multi-robot coordination. Multiple robots in a team can coordinate with each other by selecting appropriate task, role and behavior in advers...

For a robot to perform a task, people have to instruct it, typically through programming. However, it does not seem feasible for a general user to be able program any robot. Instead, people talk and use language to instruct one another. In this thesis, we investigate how to provide language-based interactions to get a robot to perform a task. We consider robots equipped with a set of built-in m...

MOdeling of task planning for multirobot system is developed from two parts: task decomposition and task allocation. In the part of task decomposition, the conditions and processes of decomposition are elaborated. In the part of task allocation, the collaboration strategy, the framework of reputation mechanism, and three types of reputations are defined in detail, which include robot individual...

The lack of a theory-based design methodology for mobile robot control programs means that control programs have to be developed through an empirical trial-and-error process. This can be costly, time consuming and error prone. In this paper we show how to develop a theory of robot–environment interaction, which would overcome the above problem. We show how we can model a mobile robot’s task (so...

In recent years, the problem of inferring and utilizing semantic information has gained considerable interest within the mobile robotics community. In this paper we focus on the problem of how to utilize the local semantic information of objects in a map to solve a navigation task more efficiently. In particular, we consider a wayfinding task and choose a supermarket environment as an example d...

Adapting plans to changes in the environment by finding alternatives and taking advantage of opportunities is a common human behavior. The need for such behavior is often rooted in the uncertainty produced by our incomplete knowledge of the environment. While several existing planning approaches deal with such issues, artificial agents still lack the robustness that humans display in accomplish...

This paper presents the architecture and algorithms developed for Dom Dinis, a simple compass-guided robot built by the authors. This includes environment exploration, task planning and task execution. Environment exploration, based on repeating a reactive goal search, enables a progressive construction of a grid-based map. Based on the (possibly incomplete) map, the robot is able to plan its t...

Robots are increasingly being employed for diverse applications where they must work and coexist with humans. The trust in human–robot collaboration (HRC) is a critical aspect of any shared-task performance both the human robot. study human-trusting robot has been investigated by numerous researchers. However, robot-trusting human, which also significant issue HRC, seldom explored field robotic...

Task-space feedback information such as visual feedback is used in many modern robot control systems as it improves robustness to model uncertainty. However, existing task-space feedback control schemes are only valid locally in a finite task space within a limited sensing zone where the singularity of the Jacobian matrix can be avoided. The global stability problem of task-space control system...