Dani Goldberg

TL;DR: It is explored how key issues in multi-robot control can be addressed using interference, a directly measurable property of a multi- robot system.

TL;DR: In the first year of the AAAI Robot Challenge, five research institutions representing academia, industry, and government integrated their research into a single robot named GRACE as discussed by the authors, which was used to solve as much of the challenge as possible.

TL;DR: This article describes this first-year effort by the GRACE team, including not only the various techniques each participant brought to GRACE but also the difficult integration effort itself.

TL;DR: An extension to the traditional three-layered robot architecture that enables robots to interact directly at each layer — at the behavioral level, the robots create distributed control loops; at the executive level, they synchronize task execution; and at the planning level, robots use market-based techniques to assign tasks, form teams, and allocate resources.

TL;DR: The architecture (in particular, the planning layer) has been applied to a Mars exploration scenario involving the characterization of "interesting" rocks and preliminary simulation results exploring market and scenario parameters are presented.