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37.4 Multiple Robot Interaction
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An exciting field of research is the interaction of several robots working together. Rather than build one big, powerful robot that does everything, multirobot scenarios combine the strengths of two or more smaller, simpler machines to achieve synergy: the whole is greater
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ROBOT TASKS, OPERATIONS, AND BEHAVIORS
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than the parts. Anyone who has seen the old science fiction film Silent Running knows what three diminutive robots (named Huey, Luey, and Dewey, by the way) can do! Robot tag teams or swarms are common in college and university robot labs, where groups of robot researchers compete with their robots as the players of a game (robo-soccer is popular). Each robot in the competition has a specific job, and the goal is to have them work together. There are three common types of robot-to-robot interaction:
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Peer-to-peer. Each robot is considered equal, though each one may have a different job to do, based on predefined programming. The workload may also be divided based on physical proximity to the work, and whether the other robots in the group are busy doing other things. Queen/drone. One robot serves as the leader, and one or more additional robots serve as worker drones. Each drone takes its work orders directly from the queen and may interact only peripherally with the other drone bots. Convoys. Combining the first two types, the leader of the convoy is the queen robot, and the other robots act as peers among themselves. In convoy fashion, each robot may rely on the one just ahead for important information. This approach is useful when the queen is not capable, for computer processing reasons or otherwise, to control a large number of fairly mindless drones.
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Why all the fuss with multiple robots First and foremost because it s generally easier and cheaper to build many small and simple robots than a single big and complex one. Second, the mechanical failure of one robot can be compensated for by the remaining good robots. In many instances, the queen or leader robot is no different from the others, it just plays a coordinating role. In this way, should the leader bot go down for the count, any other robot can easily take its place. And third, work tends to get done faster with more hands helping.
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37.5 The Role of Subsumption Architecture
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Subsumption architecture isn t an odd style of building. Rather, it s a technique devised by Dr. Brooks at MIT that has become a common approach for dealing with the complexities of sensor fusion and artificial machine intelligence. With subsumption, sensor inputs are prioritized. Higher-priority sensors override lower-priority ones. In the typical subsumption model, the robot may not even be aware that a low-priority sensor was triggered. The net result is that a robot can demonstrate very sophisticated responses to inputs with relatively simple programs and low-performance microcontrollers. More complex hybrid systems may employ a form of simple subsumption along with more traditional artificial intelligence programming. The robot s computer may evaluate the relative merits of low-priority sensors and use this information to intuit a unique course of action, perhaps one in which direct programming for the combination of input variables does not yet exist. In some cases, the output of a low-priority sensor may moderate the interpretation of a high-priority one. As an example, a firefighting robot may have both a smoke detector and a flame detec-
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37.6 FROM HERE
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tor. The smoke detector is likely to sense smoke before any fire can be identified, since smoke so easily permeates a structure. Therefore, the smoke sensor will likely be given a lower priority to the flame detector, since it is so easily triggered. But consider that flames can exist without a destructive fire (e.g., a fireplace and candlelight, both of which do not emit much smoke under normal circumstances). Rather than have the robot totally ignore its other sensors when the high-priority flame detector is triggered, the robot instead integrates the output of both flame and smoke sensors to determine what is, and isn t, a fire that needs to be put out.
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