In this work a novel framework for modeling role and task allocation in Cooperative Heterogeneous Multi-Robot Systems (CHMRSs) is presented. This framework encodes a CHMRS as a set of multidimensional relational structures (MDRSs). This set of structure defines collaborative tasks through both temporal and spatial relations between processes of heterogeneous robots. These relations are enriched with tensors which allow for geometrical reasoning about collaborative tasks. A learning schema is also proposed in order to derive the components of each MDRS. According to this schema, the components are learnt from data reporting the situated history of the processes executed by the team of robots. Data are organized as a multirobot collaboration treebank (MRCT) in order to support learning. Moreover, a generative approach, based on a probabilistic model, is combined together with nonnegative tensor decomposition (NTD) for both building the tensors and estimating latent knowledge. Preliminary evaluation of the performance of this framework is performed in simulation with three heterogeneous robots, namely, two Unmanned Ground Vehicles (UGVs) and one Unmanned Aerial Vehicle (UAV).


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Role and task allocation framework for Multirobot collaboration with latent knowledge estimation



    Erscheinungsdatum :

    2020-01-01



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Capability-based task allocation in human-robot collaboration

    Ranz, Fabian / Hummel, Vera / Sihn, Wilfried | BASE | 2017

    Freier Zugriff

    Capability-based task allocation in human-robot collaboration

    Ranz, Fabian / Hummel, Vera / Sihn, Wilfried | BASE | 2017

    Freier Zugriff

    MULTIROBOT FOR TRANSPORT AND REHABILITATION

    HALADA PAVEL / HALADOVÁ PETRA | Europäisches Patentamt | 2018

    Freier Zugriff

    Multirobot coverage of modular environments

    Mirko Salaris / Alessandro Riva / Francesco Amigoni | BASE | 2020

    Freier Zugriff

    Congestion-aware policy synthesis for multirobot systems

    Street, C / Puetz, S / Muehlig, M et al. | BASE | 2022

    Freier Zugriff