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Dynamic self-configuration of an ecology of robots
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0002-0458-2146
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2007 (English)In: IEEE/RSJ international conference on intelligent robots and systems, 2007. IROS 2007, 2007, p. 3403-3409Conference paper, Published paper (Refereed)
Abstract [en]

There is a tendency today toward the study of distributed systems consisting of many heterogeneous, networked, cooperating robotic devices. We refer to a system of this type as an ecology of robots. We call functional configuration of this ecology a way to allocate and connect functionalities among its robots. In general, the same ecology can perform different tasks by using different configuration. Moreover, the same task can often be solved using different configurations, and which is the best one depends on the available resources. This potential flexibility of a robot ecology is reduced by the fact that, in most current approaches, configurations are pre-programmed by hand. In this paper, we propose a plan-based approach to automatically generate a preferred configuration of a robot ecology given a task, environment, and set of resources. In contrast to previous approaches, the state of the ecology is

automatically acquired at planning time, and it is monitored during execution in order to reconfigure if a functionality fails. We illustrate these ideas on a specific instance of an ecology of robots, called PEIS Ecology. We also show an experiment run on our PEIS Ecology testbed, in which a robot needs to reconfigure when the original configuration fails.

Place, publisher, year, edition, pages
2007. p. 3403-3409
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4251DOI: 10.1109/IROS.2007.4399217ISBN: 978-1-4244-0912-9 (print)OAI: oai:DiVA.org:oru-4251DiVA, id: diva2:138550
Conference
IEEE/RSJ international conference on intelligent robots and systems, 2007. IROS 2007 - 29 Oct-1 Nov 2007 - San Diego CA
Available from: 2007-12-13 Created: 2007-12-13 Last updated: 2018-01-13Bibliographically approved

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Lundh, RobertKarlsson, LarsSaffiotti, Alessandro

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CiteExportLink to record
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Citation style
  • apa
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