Ayllu: Distributed Port-arbitrated Behavior-based Control

  title={Ayllu: Distributed Port-arbitrated Behavior-based Control},
  author={Barry Brian Werger},
Distributed control of a team of mobile robots presents a number of unique challenges, including highly unreliable communication, real world task and safety constraints, scalability, dynamic reconngurability, heterogenous platforms, and a lack of standardized tools or techniques. Similar problems plagued development of single robots applications until the \behavior-based" revolution led to new techniques for robot control based on port-arbitrated behaviors (PAB). Though there are now many… CONTINUE READING
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