LiU Electronic Press
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Author:
Landén, David (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Heintz, Fredrik (Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems) (Linköping University, The Institute of Technology)
Doherty, Patrick (Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems) (Linköping University, The Institute of Technology)
Title:
Complex Task Allocation in Mixed-Initiative Delegation: A UAV Case Study
Department:
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Chapter in book (Refereed)
Language:
English
In:
Principles and Practice of Multi-Agent Systems: 13th International Conference, PRIMA 2010, Kolkata, India, November 12-15, 2010, Revised Selected Papers
Editor:
Nirmit Desai, Alan Liu, Michael Winikoff
Publisher: Springer Berlin/Heidelberg
Series:
Lecture Notes in Computer Science, ISSN 0302-9743 (print), 1611-3349 (online); 7057
Volume:
7057
Pages:
288-303
Year of publ.:
2012
URI:
urn:nbn:se:liu:diva-87978
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-87978
ISBN:
978-3-642-25919-7, e-978-3-642-25920-3
ISI:
000307084200020
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Abstract(en) :

Unmanned aircraft systems (UASs) are now becoming technologically mature enough to be integrated into civil society. An essential issue is principled mixed-initiative interaction between UASs and human operators. Two central problems are to specify the structure and requirements of complex tasks and to assign platforms to these tasks. We have previously proposed Task Specification Trees (TSTs) as a highly expressive specification language for complex multi-agent tasks that supports mixed-initiative delegation and adjustable autonomy. The main contribution of this paper is a sound and complete distributed heuristic search algorithm for allocating the individual tasks in a TST to platforms. The allocation also instantiates the parameters of the tasks such that all the constraints of the TST are satisfied. Constraints are used to model dependencies between tasks, resource usage as well as temporal and spatial requirements on complex tasks. Finally, we discuss a concrete case study with a team of unmanned aerial vehicles assisting in a challenging emergency situation.

Available from:
2013-01-28
Created:
2013-01-28
Last updated:
2013-02-12
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