Modelling and Controlling of Behaviour for Autonomous Mobile Robots

Skubch, Hendrik

doi:10.1007/978-3-658-00811-6

Cited by 21 publications

(18 citation statements)

References 91 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We have developed a language and execution environment called ALICA (A Language for Interactive Collaborative Agents) for designing teamwork collaboration. ALICA provides a formally defined modeling language, tool support for development, and an execution engine for highly adaptive multi-agent team behavior [58], [59]. The design of ALICA targets dynamic environments with fast changing situations, imperfect network communication, and possibly diverging sensor data from team members.…”

Section: Model-driven Engineeringmentioning

confidence: 99%

See 1 more Smart Citation

Teamwork for Multi-Robot Systems in Dynamic Environments

Geihs¹

2019

Preprint

View full text Add to dashboard Cite

The increasing number of robots around us will soon create a demand for connecting these robots in order to achieve goal-driven teamwork in heterogeneous multi-robot systems. In this paper, we focus on robot teamwork specifically in dynamic environments. While the conceptual modeling of multi-agent teamwork has been studied extensively during the last two decades, related engineering concerns have not received the same degree of attention. Therefore, this paper makes two contributions. The analysis part discusses general design challenges that apply to robot teamwork in dynamic application domains. The constructive part presents a review of existing engineering approaches for challenges that arise with dynamically changing runtime conditions. An exhaustive survey of robot teamwork aspects would be beyond the scope of this paper. Instead, we aim at creating awareness for the manifold dimensions of the design space and highlight state-of-the-art technical solutions for dynamically adaptive teamwork, thus pointing at open research questions that need to be tackled in future work. 2 increasing number of partially autonomous robots for lawn mowing, vacuum cleaning, window cleaning, and even for caretaking and medical applications.Achieving effective multi-robot teamwork raises big research challenges. Our particular focus in this paper is on the software that enables adaptive teamwork. Comprehensive support for designing the interaction, coordination and decision-making is essential to exploit the potential of multi-robot teams. For example, consider a large-scale emergency scenario where robots of different rescue organizations come together and collaborate spontaneously to search and rescue victims. Clearly, in the first place, we need communication channels between the robotsjust like for the human rescue forces. Based upon the basic communication capabilities coordination of task assignment, execution, and monitoring is required. In dynamic, error-prone application environments support for adaptive task allocation and decentralized decision-making is crucial to determine who does what and when in a team of autonomous robots. Heterogeneity of robot hardware and software may further add to the complexity. When engineering a software framework for the teamwork of autonomous robots all of these challenges, and more, have to be addressed and solved.The goal of this paper is to explore the design space for the engineering of robot teamwork and to present solution approaches for dynamic application scenarios. We highlight the spectrum of application requirements and identify challenges for the engineering of teamwork solutions in multi-robot systems. This leads us to research questions that future research needs to tackle.The analysis part discusses general design challenges that apply to robot teamwork in dynamic application domains. The constructive part presents a survey of existing engineering approaches for challenges that arise with the dynamically changing runtime conditions. This paper makes two main contribution...

show abstract

Section: Model-driven Engineeringmentioning

confidence: 99%

“…State transitions depend on the situation at-hand as perceived by a robot. For further information on the syntax and semantics of ALICA, the reader is referred to [58]. ALICA adopts the general principle that team decisions, e.g.…”

Section: Model-driven Engineeringmentioning

confidence: 99%

Teamwork for Multi-Robot Systems in Dynamic Environments

Geihs¹

2019

Preprint

View full text Add to dashboard Cite

show abstract

“…The middleware PROViDE [36] is part of a multi-agent framework called ALICA [37]; ALICA teams have a decentralized team structure. PROViDE offers a choice of replication and agreement protocols for common decision variables.…”

mentioning

confidence: 99%

“…ALICA (A Language for Interactive Collaborative Agents) is a language and execution environment for developing teamwork applications. ALICA provides a formally defined modeling language, tool support for development, and an execution engine for highly adaptive multi-agent team behavior [37,46]. The design of ALICA targets dynamic environments with fast changing situations, imperfect network communication, and possibly diverging sensor data from team members.…”

mentioning

confidence: 99%

See 1 more Smart Citation

Engineering Challenges Ahead for Robot Teamwork in Dynamic Environments

Geihs

2020

Applied Sciences

View full text Add to dashboard Cite

The increasing number of robots around us creates a demand for connecting these robots in order to achieve goal-driven teamwork in heterogeneous multi-robot systems. In this paper, we focus on robot teamwork specifically in dynamic environments. While the conceptual modeling of multi-agent teamwork was studied extensively during the last two decades and commercial multi-agent applications were built based on the theoretical foundations, the steadily increasing use of autonomous robots in many application domains gave the topic new significance and shifted the focus more toward engineering concerns for multi-robot systems. From a distributed systems perspective, we discuss general engineering challenges that apply to robot teamwork in dynamic application domains and review state-of-the-art solution approaches for these challenges. This leads us to open research questions that need to be tackled in future work.

show abstract