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A Delegation-Based Cooperative Robotic Framework
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab. Linköping University, The Institute of Technology.
2011 (English)In: Proceedings of the IEEE International Conference on Robotics and Biomimetic, IEEE conference proceedings, 2011, p. 2955-2962Conference paper, Published 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.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2011. p. 2955-2962
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:liu:diva-72912DOI: 10.1109/ROBIO.2011.6181755ISBN: 978-1-4577-2136-6 (print)OAI: oai:DiVA.org:liu-72912DiVA, id: diva2:463624
Conference
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011; Phuket; Thailand
Available from: 2011-12-16 Created: 2011-12-09 Last updated: 2018-01-12Bibliographically approved

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Doherty, PatrickHeintz, Fredrik

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf