The goal is to bridge the gap between coalition formation and execution in distributed multi-robot systems. For forming coalitions, a semantic reasoning architecture is introduced that can flexibly search the solution space for robots to cooperatively accomplish a task. For executing coalitions, an information theoretic approach is presented, which can guide the coalition execution while maintaining the desired configurations in a robust and flexible manner. This project is built on the schema theory. The sensors that are used include the Sick LMS-200 Laser, the Cannon PTZ Camera, and etc., equipped on the Pioneer II robots. Various schemas are implemented for image processing, path planning, formation control, and etc. The reasoning architecture coordinates these schemas to communicate within and across robots to accomplish complex multi-robot tasks. The system is implemented in C++ under Ubuntu, is thread-based and platformindependent. The system currently runs on Player/Stage, but can be easily adapte
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