Diagnosis of multi-robot coordination failures using distributed CSP algorithms

Meir Kalech, Gal A. Kaminka, Amnon Meisels, Yehuda Elmaliach

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

18 Scopus citations

Abstract

With increasing deployment of systems involving multiple coordinating agents, there is a growing need for diagnosing coordination failures in such systems. Previous work presented centralized methods for coordination failure diagnosis; however, these are not always applicable, due to the significant computational and communication requirements, and the brittleness of a single point of failure. In this paper we propose a distributed approach to model-based coordination failure diagnosis. We model the coordination between the agents as a constraint graph, and adapt several algorithms from the distributed CSP area, to use as the basis for the diagnosis algorithms. We evaluate the algorithms in extensive experiments with simulated and real Sony Aibo robots and show that in general a trade-off exists between the computational requirements of the algorithms, and their diagnosis results. Surprisingly, in contrast to results in distributed CSPs, the asynchronous backtracking algorithm outperforms stochastic local search in terms of both quality and runtime.

Original languageEnglish
Title of host publicationProceedings of the 21st National Conference on Artificial Intelligence and the 18th Innovative Applications of Artificial Intelligence Conference, AAAI-06/IAAI-06
Pages970-975
Number of pages6
StatePublished - 13 Nov 2006
Event21st National Conference on Artificial Intelligence and the 18th Innovative Applications of Artificial Intelligence Conference, AAAI-06/IAAI-06 - Boston, MA, United States
Duration: 16 Jul 200620 Jul 2006

Publication series

NameProceedings of the National Conference on Artificial Intelligence
Volume1

Conference

Conference21st National Conference on Artificial Intelligence and the 18th Innovative Applications of Artificial Intelligence Conference, AAAI-06/IAAI-06
Country/TerritoryUnited States
CityBoston, MA
Period16/07/0620/07/06

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence

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