Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

May 2002


Copyright 2002 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2002 (ICRA 2002), Volume 1, pages 293-298.
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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, the methodology is demonstrated in a cooperative transportation task, in which a group of robots must find and cooperatively transport several objects scattered in the environment.



Date Posted: 15 November 2004

This document has been peer reviewed.