survey

Cooperative Heterogeneous Multi-Robot Systems: A Survey

Authors:
Yara Rizk

American University of Beirut, Beirut, Lebanon

American University of Beirut, Beirut, Lebanon
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,
Mariette Awad

American University of Beirut, Beirut, Lebanon

American University of Beirut, Beirut, Lebanon

0000-0002-4815-6894
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,
Edward W. Tunstel

United Technologies Research Center, East Hartford, CT, USA

United Technologies Research Center, East Hartford, CT, USA
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Authors Info & Claims

ACM Computing Surveys Volume 52 Issue 2Article No.: 29pp 1–31https://doi.org/10.1145/3303848

Published:09 April 2019Publication History

ACM Computing Surveys

Abstract

The emergence of the Internet of things and the widespread deployment of diverse computing systems have led to the formation of heterogeneous multi-agent systems (MAS) to complete a variety of tasks. Motivated to highlight the state of the art on existing MAS while identifying their limitations, remaining challenges, and possible future directions, we survey recent contributions to the field. We focus on robot agents and emphasize the challenges of MAS sub-fields including task decomposition, coalition formation, task allocation, perception, and multi-agent planning and control. While some components have seen more advancements than others, more research is required before effective autonomous MAS can be deployed in real smart city settings that are less restrictive than the assumed validation environments of MAS. Specifically, more autonomous end-to-end solutions need to be experimentally tested and developed while incorporating natural language ontology and dictionaries to automate complex task decomposition and leveraging big data advancements to improve perception algorithms for robotics.

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Index Terms

Cooperative Heterogeneous Multi-Robot Systems: A Survey
1. Computing methodologies
  1. Artificial intelligence
    1. Distributed artificial intelligence
      1. Multi-agent systems
    2. Planning and scheduling
      1. Multi-agent planning
      2. Robotic planning

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Published in
ACM Computing Surveys Volume 52, Issue 2
March 2020
770 pages
ISSN:0360-0300
EISSN:1557-7341
DOI:10.1145/3320149
Editor:
Sartaj Sahni
Department of Computer and Information Science and Engineering
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Publication History
- Published: 9 April 2019
- Revised: 1 January 2019
- Accepted: 1 January 2019
- Received: 1 January 2018
Published in csur Volume 52, Issue 2

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Multi-robot systems
coalition formation
cooperation
decision-making models
heterogeneous agents
perception
task allocation
task decomposition
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Cooperative Heterogeneous Multi-Robot Systems: A Survey

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