Department of Computer Science Technische Universitaet Muenchen
Home People Teaching Research Publications Info Sitemap
Research | Publications | Teaching | Miscellaneous | Contact

Publications

Sorted by DateClassified by Publication TypeClassified by Research Category

Freek Stulp, Hans Utz, Michael Isik, and Gerd Mayer. Implicit Coordination with Shared Belief: A Heterogeneous Robot Soccer Team Case Study. In accepted for the First International Conference on Robot Communication and Coordination (RoboComm), 2007.

Download

(unavailable)

Abstract

A striking aspect of human coordination is that we achieve it with little or no communication. We achieve this implicit coordination by taking the perspective of others, and inferring their intentions. In contrast, robots usually coordinate explicitly through the extensive communication of utilities or intentions. In this paper we present a method that combines both approaches: implicit coordination with shared belief. In this approach, robots first communicate their beliefs about the world state to each other, using a CORBA based communication module. They then use learned utility prediction models to predict the utility of each robot locally. Based on these utilities, an action is chosen. Within a heterogeneous soccer team, with robots from both the Munich and Ulm research groups, we apply implicit coordination with shared belief to a typical task from robotic soccer: regaining ball possession. An empirical evaluation demonstrates that the redundancy of implicit coordination with shared belief leads to robustness against communication failure and state estimation inaccuracy.

BibTeX Entry

@InProceedings{stulp07implicit,
  author =            {Freek Stulp and Hans Utz and Michael Isik and Gerd Mayer},
  title =             {Implicit Coordination with Shared Belief: A Heterogeneous Robot Soccer Team Case Study},
  booktitle =         {accepted for the First International Conference on Robot Communication and Coordination (RoboComm)},
  year =              {2007},
  bib2html_pubtype =  {Refereed Conference Paper},
  bib2html_rescat =   {Robotics - Motor Control},
  abstract =          {
  A striking aspect of human coordination is that we achieve it with little or
  no communication. We achieve this implicit coordination by taking the
  perspective of others, and inferring their intentions. In contrast, robots
  usually coordinate explicitly through the extensive communication of utilities
  or intentions.
  In this paper we present a method that combines both approaches: implicit
  coordination with shared belief. In this approach, robots first communicate
  their beliefs about the world state to each other, using a CORBA based
  communication module. They then use learned utility prediction models to
  predict the utility of each robot locally. Based on these utilities, an action
  is chosen.
  Within a heterogeneous soccer team, with robots from both the Munich and Ulm
  research groups, we apply implicit coordination with shared belief to a
  typical task from robotic soccer: regaining ball possession. An empirical
  evaluation demonstrates that the redundancy of implicit coordination with
  shared belief leads to robustness against communication failure and state
  estimation inaccuracy.
  }
}

Generated by bib2html.pl (written by Patrick Riley ) on Tue Sep 23, 2008 15:09:11 UTC


Computer Science IX | Technische Universität München