2020/09/01 by Qin Yang, Yang, Qin, Ramviyas Parasuraman +1 · 2 citations
Computer Science · Engineering · Psychology · #FOS: Computer and information sciences #Modular Robots and Swarm Intelligence #Multiagent Systems (cs.MA) #Robotic Path Planning Algorithms #Robotics (cs.RO) #Social Robot Interaction and HRI
paper · pdf · doi:10.48550/arxiv.2009.00288
openalex publication_date 2020/09/01 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through a Behavior Tree structure and evaluate the system's performance in terms of the group utility and energy cost to achieve the rescue mission in a limited time. From the theoretical analysis, we prove that the needs-driven cooperation in a heterogeneous robot system enables higher group utility than a homogeneous robot system. We also perform simulation experiments to verify the proposed needs-driven collaboration and show that the heterogeneous multi-robot cooperation can achieve better performance and increase system robustness by reducing uncertainty in task execution. Finally, we discuss the application to human-robot teaming.