Constraint Aware Behavior in Multi-Robot Systems

Abstract

In this work we present a behavioral modeling framework that accounts for a battery constraint. This framework allows for a user to model robot teams of varying configuration performing com- mon robotic tasks such as exploration or going to user specified goals. The focus of this work is on how to model a constraint aware behavior and how assistance can be requested by and provided from a robot team. We show experimental results in simulated environments and identify trends that can be seen given a robot team configuration. We also discuss how this system can be adapted to different environments and different constraints. Our system can be setup to allow for differ- ent number of workers and helpers. The charging station, battery level and the behaviors of these agents can also be varied. We discuss the affect of these different policies on the performance of the workers. The performance is measured by the number of times the environment area is covered. In conclusion we would measure the performance based on the number of times the environment is covered by the agents.