liu.seSearch for publications in DiVA
ReferencesLink to record
Permanent link

Direct link
A Delegation-Based Cooperative Robotic Framework
2011 (English)In: Proceedings of the IEEE International Conference on Robotics and Biomimetic, IEEE conference proceedings, 2011, 2955-2962Konferensbidrag (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)
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

Open Access in DiVA

fulltext(447 kB)589 downloads
File information
File name FULLTEXT02.pdfFile size 447 kBChecksum SHA-512
1e9b70f4a43ef6c1c3529f350b6beb1462c7599c45a5d2056b5dfdc86a4a0b598fabe8122e2ddeef4bfc9957de7f47b1b923d00ac5874fda0d924f83bed8438b
Typ fulltextMimetype application/pdf

Other links

Publisher's fulltext

Search in DiVA

By author/editor
Doherty, PatrickHeintz, Fredrik
By organisation
KPLAB - Knowledge Processing LabThe Institute of Technology
Computer Science

Search outside of DiVA

GoogleGoogle Scholar
Totalt: 589 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Citations

Web of Science®:

Altmetric score

Totalt: 36 hits
ReferencesLink to record
Permanent link

Direct link