A behavior based layered, hybrid, control architecture for robot/sensor networks

Date

2006-05-19

Author

Akin, Berkant
Erkmen, Aydan Müşerref
Erkmen, İsmet

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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This work focuses on the design and implementation of a behavior based, layered, cooperative control of robots in a sensor network, hybrid in combining subsumption and motor schema layers. Behaviors at different level of resolution are not only coordinated by the motor schema layers but also through units called "evaluators" which fuses state and activity of behaviors according to priorities and cross-couplings in runtime. Concurrent, sequential, asynchronous multi-robot task allocation is based on "market based auction algorithm" with a novel efficient non-linear time varying fitness calculation enhancing fairness and fault tolerance. A 3D simulation environment is developed to test the proposed architecture for fairness, fault tolerance, mission accomplishment rates, and coverage.

Subject Keywords

Layered, Hybrid control, Robot/sensor networks, Market based auction task allocation, Behavior based control

URI

https://hdl.handle.net/11511/32916

DOI

https://doi.org/10.1109/robot.2006.1641185

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

B. Akin, A. M. Erkmen, and İ. Erkmen, “A behavior based layered, hybrid, control architecture for robot/sensor networks,” 2006, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/32916.