A model of physical ownership for multiple robots is formulated, and implemented on a reactive operating system for autonomous mobile robots available in an intelligent robot-supported software system or groupware. The model is particularly useful in implementing algorithms with which multiple robots with heterogeneous goals working under the groupware can reallocate tasks by themselves. The paper describes the physical ownership model and how it can be implemented, as well as the robots, reactive operating system, robot supported groupware and task reallocation algorithm, now running in our laboratory. >
['Takahiro Yakoh', 'Yuichiro Anzai']
Physical ownership and task reallocation for multiple robots with heterogeneous goals