This paper proposes a new methodology for coordinating multi-robot teams in the execution of cooperative tasks. It is based on a dynamic role assignment mechanism in which the robots assume and exchange roles during cooperation. We model the role assignment under a hybrid systems framework, using a hybrid automaton to represent roles, transitions and controllers. Using a multi-robot simulator, ...

In recent years, a plethora of multi-objective evolutionary algorithms (MOEAs) have been proposed which are able to effectively handle complex multi-objective problems. In this paper, we focus on Equilibrium Problems with Equilibrium Constraints. We show that one interpretation of the game can also be handled by MOEAs and then discuss a simple methodology to map the non-cooperative outcome to t...

A current limitation in the real-world use of cooperating mobile robots is the diiculty in determining the proper team composition for a given robotic application. Present technology restricts the design and implementation of cooperative robot teams to the expertise of a robotics researcher, who has to develop robot teams on an application-speciic basis. The objective of our research is to redu...

In this paper, we present our methodology proposal for cooperative remote systems modeling. Its aim is to develop models of existing or planned cooperative systems. These models are used to specify systems or to create dynamic working simulations. Comparative performances are deduced from the latter. The associated meta-model proposal is based, among other things, on the use of multiagent syste...

The dynamic nature of cooperative agent environment makes considerably more difficult the task of modeling permanent interactions among agents. This problem becomes rather hard if more than two agents are involved. So far, traditional approaches deal with the problem of modeling interactions in static conditions and commonly with only two agents participating concurrently in cooperative tasks. ...

Control systems for cooperative robots should be designed to work imitating human characteristics. So it is important to know the human characteristics in cooperative task, i.e. carrying an object by two humans. In this study, we have tried to achieve these goals by means of controlling a simple one degree-of-freedom cooperative robot. Firstly, the control characteristics of two humans in coope...

We have developed in 12] an algorithm for synthesis of cooperative information systems 2] speciied by data tables (information systems 5]). The algorithm produces from rules a decomposition of data table into functional components linked by communications. This method can be applied in the system technology domain to adaptive reorganization of existing cooperative information systems. In this p...

Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. A methodology for sharing a given task is important to achieve effective shared control. Therefore, the appropriate cooperative relationship between a human operator and automated system should be considered. This paper proposes a methodology...