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Combining Self-Organisation with Decision-Making and Planning

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2018

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Hrabia, Christopher-Eyk
Albayrak, Sahin

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https://doi.org/10.1007/978-3-030-01713-2_27
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BELARDINELLI, Francesco, ed., Estefanía ARGENTE, ed.. Multi-Agent Systems and Agreement Technologies : 15th European Conference, EUMAS 2017, and 5th International Conference, AT 2017, Revised Selected Papers. Cham: Springer, 2018, pp. 385-399. Lecture Notes in Computer Science. 10767. ISSN 0302-9743. eISSN 1611-3349. ISBN 978-3-030-01712-5. Available under: doi: 10.1007/978-3-030-01713-2_27

Zusammenfassung

Coordination of mobile multi-robot systems in a self-organised manner is in the first place beneficial for simple robots in common swarm robotics scenarios. Moreover, sophisticated robot systems as for instance in disaster rescue teams, service robotics and robot soccer can also benefit from a decentralised coordination while performing complex tasks. In order to facilitate self-organised sophisticated multi-robot applications a suitable approach is to combine individual decision-making and planning with self-organization. We introduce a framework for the implementation and application of self-organization mechanisms in multi-robot scenarios. Furthermore, the integration into the hybrid behaviour planning framework ROS Hybrid Behaviour Planner is presented. This combined approach allows for a goal-directed application of self-organisation and provides a foundation for an automated selection of suitable mechanisms.

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Fachgebiet (DDC)
004 Informatik

Schlagwörter

Self-organization, Behaviour-based planning, Behaviour networks, Hybrid planning, Decision-making, Multi-robot systems

Konferenz

15th European Conference, EUMAS 2017, and 5th International Conference, AT 2017, 14. Dez. 2017 - 15. Dez. 2017, Evry, France
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ISO 690HRABIA, Christopher-Eyk, Tanja Katharina KAISER, Sahin ALBAYRAK, 2018. Combining Self-Organisation with Decision-Making and Planning. 15th European Conference, EUMAS 2017, and 5th International Conference, AT 2017. Evry, France, 14. Dez. 2017 - 15. Dez. 2017. In: BELARDINELLI, Francesco, ed., Estefanía ARGENTE, ed.. Multi-Agent Systems and Agreement Technologies : 15th European Conference, EUMAS 2017, and 5th International Conference, AT 2017, Revised Selected Papers. Cham: Springer, 2018, pp. 385-399. Lecture Notes in Computer Science. 10767. ISSN 0302-9743. eISSN 1611-3349. ISBN 978-3-030-01712-5. Available under: doi: 10.1007/978-3-030-01713-2_27
BibTex
@inproceedings{Hrabia2018Combi-59785,
  year={2018},
  doi={10.1007/978-3-030-01713-2_27},
  title={Combining Self-Organisation with Decision-Making and Planning},
  number={10767},
  isbn={978-3-030-01712-5},
  issn={0302-9743},
  publisher={Springer},
  address={Cham},
  series={Lecture Notes in Computer Science},
  booktitle={Multi-Agent Systems and Agreement Technologies : 15th European Conference, EUMAS 2017, and 5th International Conference, AT 2017, Revised Selected Papers},
  pages={385--399},
  editor={Belardinelli, Francesco and Argente, Estefanía},
  author={Hrabia, Christopher-Eyk and Kaiser, Tanja Katharina and Albayrak, Sahin}
}
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