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TAMER: Task Allocation in Multi-robot Systems Through an Entity-Relationship Model
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0001-7852-4582
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0002-5224-8302
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0002-5832-5452
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2019 (English)In: PRIMA 2019: Principles and Practice of Multi-Agent Systems, 2019, p. 478-486Conference paper, Published paper (Refereed)
Abstract [en]

Multi-robot task allocation (MRTA) problems have been studied extensively in the past decades. As a result, several classifications have been proposed in the literature targeting different aspects of MRTA, with often a few commonalities between them. The goal of this paper is twofold. First, a comprehensive overview of early work on existing MRTA taxonomies is provided, focusing on their differences and similarities. Second, the MRTA problem is modelled using an Entity-Relationship (ER) conceptual formalism to provide a structured representation of the most relevant aspects, including the ones proposed within previous taxonomies. Such representation has the advantage of (i) representing MRTA problems in a systematic way, (ii) providing a formalism that can be easily transformed into a software infrastructure, and (iii) setting the baseline for the definition of knowledge bases, that can be used for automated reasoning in MRTA problems.

Place, publisher, year, edition, pages
2019. p. 478-486
National Category
Engineering and Technology Computer Systems
Identifiers
URN: urn:nbn:se:mdh:diva-46316DOI: 10.1007/978-3-030-33792-6_32Scopus ID: 2-s2.0-85076411190ISBN: 978-3-030-33791-9 (print)OAI: oai:DiVA.org:mdh-46316DiVA, id: diva2:1377836
Conference
The 22nd International Conference on Principles and Practice of Multi-Agent Systems PRIMA'19, 28 Oct 2019, Turin, Italy
Projects
DPAC - Dependable Platforms for Autonomous systems and ControlUnicorn -Sustainable, peaceful and efficient robotic refuse handlingAggregate Farming in the CloudAvailable from: 2019-12-12 Created: 2019-12-12 Last updated: 2020-05-07Bibliographically approved
In thesis
1. Modelling and Control of the Collaborative Behavior of Adaptive Autonomous Agents
Open this publication in new window or tab >>Modelling and Control of the Collaborative Behavior of Adaptive Autonomous Agents
2020 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Research on autonomous agents and vehicles has gained momentum in the past years, which is reflected in the extensive body of literature and the investment of big players of the industry in the development of products such as self-driving cars. Additionally, these systems are envisioned to continuously communicate and cooperate with one another in order to adapt to dynamic circumstances and unforeseeable events, and as a result will they fulfil their goals even more efficiently.The facilitation of such dynamic collaboration and the modelling of interactions between different actors (software agents, humans) remains an open challenge.This thesis tackles the problem of enabling dynamic collaboration by investigating the automated adjustment of autonomy of different agents, called Adaptive Autonomy (AA). An agent, in this context, is a software able to process and react to sensory inputs in the environment in which it is situated in, and is additionally capable of autonomous actions. In this work, the collaborative adaptive autonomous behaviour of agents is shaped by their willingness to interact with other agents, that captures the disposition of an agent to give and ask for help, based on different factors that represent the agent's state and its interests.The AA approach to collaboration is used in two different domains: (i) the hunting mobile search problem, and (ii) the coverage problem of mobile wireless sensor networks. In both cases, the proposed approach is compared to state-of-art methods.Furthermore, the thesis contributes on a conceptual level by combining and integrating the AA approach -- which is purely distributed -- with a high-level mission planner, in order to exploit the ability of dealing with local and contingent problems through the AA approach, while minimising the requests for a re-plan to the mission planner.

Place, publisher, year, edition, pages
Västerås: Mälardalen University, 2020
Series
Mälardalen University Press Dissertations, ISSN 1651-4238 ; 314
National Category
Engineering and Technology Computer Systems
Research subject
Computer Science
Identifiers
urn:nbn:se:mdh:diva-47905 (URN)978-91-7485-468-8 (ISBN)
Public defence
2020-06-12, Västerås Campus (+ Online/Zoom), Mälardalens högskola, Västerås, 10:00 (English)
Opponent
Supervisors
Available from: 2020-05-08 Created: 2020-05-06 Last updated: 2020-05-13Bibliographically approved

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Miloradović, BrankoFrasheri, MirgitaCuruklu, BaranEkström, MikaelPapadopoulos, Alessandro

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