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A Delegation-Based Cooperative Robotic Framework
2011 (English)In: Proceedings of the IEEE International Conference on Robotics and Biomimetic, IEEE conference proceedings, 2011, 2955-2962Conference paper (Refereed)
Abstract [en]

Cooperative robotic systems, such as unmanned aircraft systems, are becoming technologically mature enough to be integrated into civil society. To gain practical use and acceptance, a verifiable, principled and well-defined foundation for interactions between human operators and autonomous systems is needed. In this paper, we propose and specify such a formally grounded collaboration framework. Collaboration is formalized in terms of the concept of delegation and delegation is instantiated as a speech act. Task Specification Trees are introduced as both a formal and pragmatic characterization of tasks and tasks are recursively delegated through a delegation process. The delegation speech act is formally grounded in the implementation using Task Specification Trees, task allocation via auctions and distributed constraint solving. The system is implemented as a prototype on unmanned aerial vehicle systems and a case study targeting emergency service applications is presented.

National Category
Computer Science
Identifiers
urn:nbn:se:liu:diva-72912 (URN)10.1109/ROBIO.2011.6181755 (DOI)978-1-4577-2136-6 (ISBN)oai:DiVA.org:liu-72912 (OAI)diva2:463624 (DiVA)
Conference
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011; Phuket; Thailand
Available from2011-12-16 Created:2011-12-09 Last updated:2014-10-10Bibliographically approved

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Doherty, PatrickHeintz, Fredrik
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KPLAB - Knowledge Processing LabThe Institute of Technology
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