Trust Establishment for the Role-Based Collaborative Multi-Robot Systems
- Resource Type
- Conference
- Authors
- Akbari, Behzad; Zhu, Haibin; Pan, Ya-Jun
- Source
- 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC) Systems, Man, and Cybernetics (SMC), 2023 IEEE International Conference on. :1283-1288 Oct, 2023
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Computing and Processing
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Collaboration
Distance measurement
Reliability
Multi-robot systems
Trust management
Engines
Multi-agent systems
Trust management systems
Multi-Agent Systems (MASs)
Role-based collaboration
Gaussian process factor graph
- Language
- ISSN
- 2577-1655
Trust evaluation and trust establishment play crucial roles in the management of trust within a multi-agent system. When it comes to collaboration systems, trust becomes directly linked to the specific roles performed by agents. The Role-Based Collaboration (RBC) methodology serves as a framework for assigning roles that facilitate agent collaboration. Within this context, the behavior of an agent with respect to a role is referred to as a process role. This research paper introduces a role engine that incorporates a trust establishment algorithm aimed at identifying optimal and reliable process roles. In our study, we define trust as a continuous value ranging from 0 to 1. To optimize trustworthy process roles, we have developed a consensus-based Gaussian Process Factor Graph (GPFG) tool. Our simulations and experiments validate the feasibility and efficiency of our proposed approach with autonomous robots in unsignalized intersections and narrow hallways.