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Adaptive Autonomy i...
Adaptive Autonomy in a Search and Rescue Scenario
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- Frasheri, Mirgita (författare)
- Mälardalens högskola,Inbyggda system,Robotics
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- Curuklu, Baran, 1969- (författare)
- Mälardalens högskola,Inbyggda system,Robotics
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- Ekström, Mikael (författare)
- Mälardalens högskola,Inbyggda system,Robotics
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- Papadopoulos, Alessandro (författare)
- Mälardalens högskola,Inbyggda system
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(creator_code:org_t)
- 2018
- 2018
- Engelska.
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Ingår i: International Conference on Self-Adaptive and Self-Organizing Systems, SASO, Volume 2018-September, 15 January 2019. - 9781538651728 ; , s. 150-155
- Relaterad länk:
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https://mdh.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- Adaptive autonomy plays a major role in the design of multi-robots and multi-agent systems, where the need of collaboration for achieving a common goal is of primary importance. In particular, adaptation becomes necessary to deal with dynamic environments, and scarce available resources. In this paper, a mathematical framework for modelling the agents' willingness to interact and collaborate, and a dynamic adaptation strategy for controlling the agents' behavior, which accounts for factors such as progress toward a goal and available resources for completing a task among others, are proposed. The performance of the proposed strategy is evaluated through a fire rescue scenario, where a team of simulated mobile robots need to extinguish all the detected fires and save the individuals at risk, while having limited resources. The simulations are implemented as a ROS-based multi agent system, and results show that the proposed adaptation strategy provides a more stable performance than a static collaboration policy.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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