This paper defines the research area of Diversity-enhanced Autonomy in Robot Teams (DART), a novel paradigm for the creation and design of policies for multi-robot coordination. While current approaches to multi-robot coordination have been successful in structured, well understood environments, they have not been successful in unstructured, uncertain environments, such as disaster response. The reason for this is not due to limitations in robot hardware, which has advanced significantly in the past decade, but in how multi-robot problems are solved. Even with significant advances in the field of multi-robot systems, the same problem-solving paradigm has remained: assumptions are made to simplify the problem, and a solution is optimized for those assumptions and deployed on the entire team. This results in brittle solutions that prove incapable if the original assumptions are invalidated. This paper introduces a new multi-robot problem-solving paradigm which relies on diverse control policies to make multi-robot systems more resilient to uncertain environments.
DART: Diversity-enhanced Autonomy in Robot Teams
This paper defines the research area of Diversity-enhanced Autonomy in Robot Teams (DART), a novel paradigm for the creation and design of policies for multi-robot coordination. Although current approaches to multi-robot coordination have been successful in structured, well-understood environments, they have not been successful in unstructured, uncertain environments, such as disaster response. Although robot hardware has advanced significantly in the past decade, the way we solve multi-robot problems has not. Even with significant advances in the field of multi-robot systems, the same problem-solving paradigm has remained: assumptions are made to simplify the problem, and a solution is optimized for those assumptions and deployed to the entire team. This results in brittle solutions that prove incapable if the original assumptions are invalidated. This paper introduces a new multi-robot problem-solving paradigm which uses a diverse set of control policies that work together synergistically within the same team of robots. Such an approach will make multi-robot systems more robust in unstructured and uncertain environments, such as in disaster response, environmental monitoring, and military applications, and allow multi-robot systems to extend beyond the highly structured and highly controlled environments where they are successful today.
- Award ID(s):
- Publication Date:
- NSF-PAR ID:
- Journal Name:
- The International Journal of Robotics Research
- Page Range or eLocation-ID:
- 1329 to 1337
- Sponsoring Org:
- National Science Foundation
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