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- Schillinger, P., et al.
(författare)
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Adaptive heterogeneous multi-robot collaboration from formal task specifications
- 2021
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Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 145
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Tidskriftsartikel (refereegranskat)abstract
- Efficiently coordinating different types of robots is an important enabler for many commercial and industrial automation tasks. Here, we present a distributed framework that enables a team of heterogeneous robots to dynamically generate actions from a common, user-defined goal specification. In particular, we discuss the integration of various robotic capabilities into a common task allocation and planning formalism, as well as the specification of expressive, temporally-extended goals by non -expert users. Models for task allocation and execution both consider non-deterministic outcomes of actions and thus, are suitable for a wide range of real-world tasks including formally specified reactions to online observations. One main focus of our paper is to evaluate the framework and its integration of software modules through a number of experiments. These experiments comprise industry-inspired scenarios as motivated by future real-world applications. Finally, we discuss the results and learnings for motivating practically relevant, future research questions. (C) 2021 Elsevier B.V. All rights reserved.
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