Multi-Robot Cooperation and Coordination

Contributions, and some illustrative videos, to:

Multi-robot coordination, The Plan-Merging Paradigm

 

An extension of the Plan-Merging Paradigm for Multi-robot Coordination.
F. Gravot and R. Alami
in Proceedings of the 2001 ICRA IEEE International Conference on Robotics and Automation, May 2001, Seoul, Korea, pp. 2929-2934.

Multi-robot cooperation in the MARTHA project.
R. Alami, S. Fleury, M. Herrb, F. Ingrand, and F. Robert.
IEEE Robotics Automation Magazine, vol. 5, no. 1, pp. 36-47, Mar. 1998.

A Scheme for Coordinating Multi-robots Planning Activities and Plans Execution.
R. Alami, F. F. Ingrand, and S. Qutub,
in ECAI, 1998, pp. 617-621.

How to solve deadlock situations within the plan-merging paradigm for multi-robot cooperation.
S. Qutub, R. Alami, and F. Ingrand.
in Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. IROS ’97, September 1997, Grenoble, France, pp. 1610-1615.

A general framework for multi-robot cooperation and its implementation on a set of three hilare robots.
R. Alami et al.
in Experimental Robotics IV, vol. 223, O. Khatib and J. K. Salisbury, Eds. London: Springer-Verlag, 1997, pp. 26-39.

Operating a large fleet of mobile robots using the plan-merging paradigm.
R. Alami, S. Fleury, M. Herrb, F. Ingrand, and S. Qutub.
in Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, April 1997, pp. 2312-2317.

A fleet of autonomous and cooperative mobile robots.
R. Alami,
in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 1996, November 1996, Osaka, Japan, pp. 1112-1117.

Multi-Robot Cooperation through Incremental Plan-Merging.
R. Alami, F. Robert, F. Ingrand, and S. Suzuki.
in Proceedings of the 1995 International Conference on Robotics and Automation, Nagoya, Aichi, Japan, May 21-27, 1995, 1995, pp. 2573-2-79.

Ten autonomous mobile robots (and even more) in a route network like environment.
L. E. Aguilar, R. Alami, S. Fleury, M. Herrb, F. Ingrand, and F. Robert.
in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1995, August 1995, Pittsburgh, PA, USA, pp. 260-267.

Plan-Merging

Plan-Merging with 7 robots (coordinated trajectories are shown)

Plan-Merging in dynamic and intricate situations

Plan-Merging 3 Hilare robots

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Multi-robot and multi UAVs Task Allocation

 

A Distributed Tasks Allocation Scheme in Multi-UAV Context.
T. Lemaire, R. Alami, and S. Lacroix.
in Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, New Orleans, USA, 2004, pp. 3622-3627.

M+: A Scheme for Multi-Robot Cooperation Through Negotiated Task Allocation and Achievement.
S. S. da C. Botelho and R. Alami.
in 1999 IEEE International Conference on Robotics and Automation, Marriott Hotel, Renaissance Center, Detroit, Michigan, USA, May 1999, pp. 1234-1239.

Incremental mission allocation to a large team of robots.
T. Vidal, M. Ghallab, and R. Alami.
in Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, USA, April 22-28, 1996, 1996, pp. 1620–1625.

Incremental Protocol for Distributed Multi-UAVs Task Allocation (Lemaire - IROS 2004)

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Architectures and Decisional schemes for Multi-robot cooperation

 

A plan manager for multi-robot systems.
S Joyeux, R Alami, S Lacroix, R Philippsen.
The International Journal of Robotics Research 28 (2), 220-240. 2009

Plan-Based Multi-robot Cooperation,
R. Alami and S. S. da Costa Botelho,
in Advances in Plan-Based Control of Robotic Agents, vol. 2466, M. Beetz, J. Hertzberg, M. Ghallab, and M. E. Pollack, Eds. Berlin, Heidelberg: Springer Berlin Heidelberg, 2002, pp. 1-20.

Multi-robot cooperation through the common use of 'mechanisms'.
S. S. da C. Botelho and R. Alami.
in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2001, Maui, HI, USA, 2001, pp. 375-380.

Robots that Cooperatively Enhance Their Plans.
S. Botelho and R. Alami.
in Distributed Autonomous Robotic Systems 4, Proceedings of the 5th International Symposium on Distributed Autonomous Robotic Systems, DARS 2000, October 2000, Knoxville, Tennessee, USA, pp. 55-68.

A Multi-Robot Cooperative Task Achievement System.
S. S. da C. Botelho and R. Alami.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, ICRA 2000, April 2000, San Francisco, CA, USA, pp. 2716-2721.

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Cooperation, Task allocation and opportunistic plan enhancement in a multi-robot context

5 robots and 20 tasks

5 robots and 20 tasks

Distributed Opportunistic Plan enhancement: You open the door and I close later (detection of a double open/close sequence) - Botelho 2000 - Alami 2002

Distributed Decision for Multi UAV systems

 

Formation flight: evaluation of autonomous configuration control algorithms.
G. Hattenberger, S. Lacroix, and R. Alami.
in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, California, USA, 2007, pp. 2628-2633.

Decision Making in Multi-UAVs Systems: Architecture and Algorithms.
S. Lacroix, R. Alami, T. Lemaire, G. Hattenberger, and J. Gancet.
in Multiple Heterogeneous Unmanned Aerial Vehicles, vol. 37, A. Ollero and I. Maza, Eds. Berlin, Heidelberg: Springer Berlin Heidelberg, 2007, pp. 15-48.

Planning and control for Unmanned Air Vehicle formation flight.
G. Hattenberger, R. Alami, and S. Lacroix.
in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 2006, Beijing, China, pp. 5931-5936.

Multiple eyes in the skies: architecture and perception issues in the COMETS unmanned air vehicles project.
A. Ollero et al.,
IEEE Robot. Automat. Mag., vol. 12, no. 2, pp. 46-57, 2005.

Task planning and control for a multi-UAV system: architecture and algorithms.
J. Gancet, G. Hattenberger, R. Alami, and S. Lacroix.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, August 2005, pp. 1017-1022

Adaptative Task-based management of a formation flight (Hattenberger - IROS 2007)

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