Modelling and Controlling of Behaviour for Autonomous Mobile Robots

✍ Scribed by Hendrik Skubch (auth.)

• Publisher: Vieweg+Teubner Verlag
• Year: 2013
• Tongue: English
• Leaves: 263
• Edition: 1
• Category: Library

✦ Synopsis

As research progresses, it enables multi-robot systems to be used in more and more complex and dynamic scenarios. Hence, the question arises how different modelling and reasoning paradigms can be utilised to describe the intended behaviour of a team and execute it in a robust and adaptive manner. Hendrik Skubch presents a solution, ALICA (A Language for Interactive Cooperative Agents) which combines modelling techniques drawn from different paradigms in an integrative fashion. Hierarchies of finite state machines are used to structure the behaviour of the team such that temporal and causal relationships can be expressed. Utility functions weigh different options against each other and assign agents to different tasks. Finally, non-linear constraint satisfaction and optimisation problems are integrated, allowing for complex cooperative behaviour to be specified in a concise, theoretically well-founded manner.

✦ Table of Contents

Front Matter....Pages 1-1
Front Matter....Pages 1-1
Introduction....Pages 3-12
Foundations....Pages 13-20
Related Work....Pages 21-32
Front Matter....Pages 33-33
Syntax....Pages 35-50
Semantics....Pages 51-111
Conflict Detection and Resolution....Pages 113-125
Software Architecture....Pages 127-137
Front Matter....Pages 139-139
Generalising ALICA....Pages 141-163
Solving Constraint Problems....Pages 165-191
Front Matter....Pages 193-193
Evaluation....Pages 195-233
Conclusion....Pages 235-238
Back Matter....Pages 17-17

✦ Subjects

Artificial Intelligence (incl. Robotics)