liu.seSearch for publications in DiVA
Change search
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, 2955-2962Conference 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
URN: urn:nbn:se:liu:diva-72912DOI: 10.1109/ROBIO.2011.6181755ISBN: 978-1-4577-2136-6OAI: diva2:463624
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)615 downloads
File information
File name FULLTEXT02.pdfFile size 447 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Other links

Publisher's full text

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
Total: 615 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

Altmetric score

Total: 58 hits
ReferencesLink to record
Permanent link

Direct link