A Delegation-Based Architecture for Collaborative Robotics
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Chapter in book (Refereed)
Agent-Oriented Software Engineering XI: 11th International Workshop, AOSE 2010, Toronto, Canada, May 10-11, 2010, Revised Selected Papers
Danny Weyns and Marie-Pierre Gleizes
Lecture Notes in Computer Science, ISSN 0302-9743; 6788
Collaborative robotic systems have much to gain by leveraging results from the area of multi-agent systems and in particular agent-oriented software engineering. Agent-oriented software engineering has much to gain by using collaborative robotic systems as a testbed. In this article, we propose and specify a formally grounded generic collaborative system shell for robotic systems and human operated ground control systems. 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 implemented in the collaborative system shell. The delegation speech act is formally grounded in the implementation using Task Specification Trees, task allocation via auctions and distributed constraint problem solving. The system is implemented as a prototype on Unmanned Aerial Vehicle systems and a case study targeting emergency service applications is presented.