Modelling and Controlling of Behaviour for Autonomous Mobile Robots

Description

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. 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