Communicating Intent as Behaviour Trees for Decentralised Multi-Robot Coordination
Rhett Hull,Diluka Moratuwage,Emily Scheide,Robert Fitch,Graeme Best,Rhett Hull,Diluka Moratuwage,Emily Scheide,Robert Fitch,Graeme Best
We propose a decentralised multi-robot coordination algorithm that features a rich representation for encoding and communicating each robot’s intent. This representation for “intent messages” enables improved coordination behaviour and communication efficiency in difficult scenarios, such as those where there are unknown points of contention that require negotiation between robots. Each intent mes...
