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2016 (English)In: PRIMA 2016: Principles and Practice of Multi-Agent Systems / [ed] Baldoni, M., Chopra, A.K., Son, T.C., Hirayama, K., Torroni, P., Springer Publishing Company, 2016, p. 110-130Conference paper, Published paper (Refereed)
Abstract [en]
This paper describes an overview of a generic framework for collaboration among humans and multiple heterogeneous robotic systems based on the use of a formal characterization of delegation as a speech act. The system used contains a complex set of integrated software modules that include delegation managers for each platform, a task specification language for characterizing distributed tasks, a task planner, a multi-agent scan trajectory generation and region partitioning module, and a system infrastructure used to distributively instantiate any number of robotic systems and user interfaces in a collaborative team. The application focusses on 3D reconstruction in alpine environments intended to be used by alpine rescue teams. Two complex UAV systems used in the experiments are described. A fully autonomous collaborative mission executed in the Italian Alps using the framework is also described.
Place, publisher, year, edition, pages
Springer Publishing Company, 2016
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 9862
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:liu:diva-130558 (URN)10.1007/978-3-319-44832-9_7 (DOI)000388796200007 ()978-3-319-44831-2 (ISBN)
Conference
PRIMA 2016: Principles and Practice of Multi-Agent Systems
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsEU, FP7, Seventh Framework ProgrammeVINNOVASwedish Research Council
Note
Accepted for publication.
2016-08-162016-08-162018-02-20