Cooperative behavior based on a subjective map with shared information in a dynamic environment

Authors: Noriaki Mitsunaga; Taku Izumi; Minoru Asada

Source: Advanced Robotics, Volume 19, Number 2, 2005 , pp. 207-218(12)

Publisher: VSP, an imprint of Brill

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Abstract:

This paper proposes a subjective map representation that enables a robot in a multi-agent system to make decisions in a dynamic, hostile environment. A typical situation can be found in the Sony four-legged robot league of the RoboCup competition. The subjective map is a map of the environment that each agent maintains regardless of the objective consistency of the representation among the agents. Due to the map's subjectivity, it is not affected by incorrect information acquired by other agents. The method is compared with conventional methods with or without information sharing.

Keywords: SUBJECTIVE MAP; MULTI-AGENT; COOPERATIVE BEHAVIOR; COMMUNICATION; DYNAMIC ENVIRONMENT

Document Type: Short communication

DOI: 10.1163/1568553053148637

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