@InProceedings{rosenfeld04a,
  author =	 {Avi Rosenfeld and Gal A. Kaminka and Sarit Kraus},
  title =	 {Adaptive Robot Coordination using Interference
                  Metrics},
  booktitle =	 {Proceedings of the {AAMAS-04} Workshop on Learning
                  and Evolution in Agent Based Systems},
  year =	 2004,
  abstract =	 {One key issue facing robotic teams is effective
                  coordination mechanisms. Many robotic groups operate
                  within domains where restrictions such as limiting
                  areas of operation are liable to cause spatial
                  conflicts between robots. Our previous work proposed
                  a measure of coordination, interference, that
                  measured the total time robots dealt with resolving
                  such conflicts. We found that a robotic group s
                  productivity was negatively correlated with
                  interference: Effective coordination techniques
                  minimized interference and thus achieved higher
                  productivity. This paper uses this result to create
                  adaptive coordination techniques that are able to
                  dynamically adjust the efforts spent on coordination
                  to match the number of perceived coordination
                  conflicts in a group. Our robots independently
                  calculate a projected level of interference they
                  will encounter. By using this metric as a guide, we
                  are able to create adaptive coordination methods
                  that can quickly and effectively adjust to a given
                  domain s spatial limitations. We present two
                  adaptation heuristics that are completely
                  distributed and require no communication between
                  robots. Using thousands of simulated trials, we
                  found that groups using these approaches achieved a
                  statistically significant improvement in
                  productivity over non-adaptive coordination
                  methods.},
  keywords =     {learning robots},
  url =		 {http://jmvidal.cse.sc.edu/library/rosenfeld04a.pdf},
  comment =	 {masrg},
  cluster = 	 {6099933472055950917}
}