Kooperierende Mobile Roboter

Sven Behnke

Abstract: The use of teams of cooperating mobile robots is necessary, if a task is inherently distributed or cannot be solved by a single robot. In cases when a task can in principle be completed by a single robot, the use of multiple robots can result in advantages in execution speed, robustness, and scalability. Multiple resource allocation problems must be solved to make robots cooperate, like task allocation or the allocation of portions of the work space. This article discusses architectures for communication and control in multi-robot systems as well as path planning and multi-robot learning. The possible utility of cooperating mobile robots is illustrated using four application examples.