BOBCAT: Behaviors, Objectives and Binary states for Coordinated Autonomous Tasks

Danny G. Riley; Eric W. Frew

IROS 2022poster2 citations

BOBCAT: Behaviors, Objectives and Binary states for Coordinated Autonomous Tasks

Abstract

We present our framework Behaviors, Objectives and Binary states for Coordinated Autonomous Tasks (BOBCAT), a multi-agent decision making and task management system for autonomous robots. BOBCAT builds on behavior-based systems and the Belief-Desire-Intention model for decision-making, by using mission objectives as the basis for selecting tasks, or behaviors. We describe how BOBCAT is formulated and present the results of a real-world implementation in the context of exploring austere underground environments in the DARPA Subterranean Challenge.

BibTeX

@inproceedings{iros2022_bobcatbehaviorso,
  title = {BOBCAT: Behaviors, Objectives and Binary states for Coordinated Autonomous Tasks},
  author = {Danny G. Riley and Eric W. Frew},
  booktitle = {IROS 2022},
  year = {2022}
}