A Delegation-Based Cooperative Robotic Framework
Doherty, Patrick Heintz, Fredrik
2011 (English)In: Proceedings of the IEEE International Conference on Robotics and Biomimetic, IEEE conference proceedings, 2011, 2955-2962Conference paper (Refereed)
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 CategoryComputer Science
IdentifiersURN: urn:nbn:se:liu:diva-72912DOI: 10.1109/ROBIO.2011.6181755ISBN: 978-1-4577-2136-6OAI: oai:DiVA.org:liu-72912DiVA: diva2:463624
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011; Phuket; Thailand