A framework to manage environment models in multi-robot teams

Pierrick Koch (1) , Simon Lacroix (1)

1 LAAS-RIS - Équipe Robotique et InteractionS

Environment models are the primary matter to autonomous decisions for mobile robots, and also to cooperation within teams of robots that operate in the same environment. The decisions to take within a robot or a robot team relate to motions, perceptions and communications: various types of environment models are therefore required to evaluate and plan these actions. While the literature abounds with approaches to environment modeling using data perceived by the robots, very few work tackle the problem of managing such models within a team of robots. Managing environment models implies defining the proper data structures and associated mechanisms that allow their efficient update and use by the decisional processes that require them, ensuring the models consistency as the robots evolve. This article presents on-going work on the definition of a framework dedicated to the managing of environment models within a robot team. It establishes some principles for such a framework, proposes data structures to store and manage data and models, and is illustrated by some simple examples.

Domaines: Robotique [cs.RO]

Pierrick Koch, Simon Lacroix. A framework to manage environment models in multi-robot teams. Control Architectures of Robots, Jun 2015, Lyon, France. ⟨hal-01180035⟩