A calculus of mobile processes, I
Information and Computation
A multivalued logic approach to integrating planning and control
Artificial Intelligence - Special volume on planning and scheduling
Methods for task allocation via agent coalition formation
Artificial Intelligence
SHOP: Simple Hierarchical Ordered Planner
IJCAI '99 Proceedings of the Sixteenth International Joint Conference on Artificial Intelligence
A Multi-Agent Systems Approach to Autonomic Computing
AAMAS '04 Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems - Volume 1
A survey of self-management in dynamic software architecture specifications
WOSS '04 Proceedings of the 1st ACM SIGSOFT workshop on Self-managed systems
PEIS ecologies: ambient intelligence meets autonomous robotics
Proceedings of the 2005 joint conference on Smart objects and ambient intelligence: innovative context-aware services: usages and technologies
SHAGE: a framework for self-managed robot software
Proceedings of the 2006 international workshop on Self-adaptation and self-managing systems
Plan-Based Configuration of a Group of Robots
Proceedings of the 2006 conference on ECAI 2006: 17th European Conference on Artificial Intelligence August 29 -- September 1, 2006, Riva del Garda, Italy
Conditional progressive planning under uncertainty
IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
A Ubiquitous and Cooperative Service Framework for Network Robot System
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Causal reasoning for planning and coordination of multiple housekeeping robots
LPNMR'11 Proceedings of the 11th international conference on Logic programming and nonmonotonic reasoning
A middleware to integrate robots, simple devices and everyday objects into an ambient ecology
Pervasive and Mobile Computing
A constraint-based approach for proactive, context-aware human support
Journal of Ambient Intelligence and Smart Environments
Intelligent Service Robotics
Inferring robot goals from violations of semantic knowledge
Robotics and Autonomous Systems
Hi-index | 0.00 |
We consider distributed systems of networked robots in which: (1) each robot includes sensing, acting and/or processing modular functionalities; and (2) robots can help each other by offering those functionalities. A functional configuration is any way to allocate and connect functionalities among the robots. An interesting feature of a system of this type is the possibility to use different functional configurations to make the same set of robots perform different tasks, or to perform the same task under different conditions. In this paper, we propose an approach to automatically generate at run time a functional configuration of a network robot system to perform a given task in a given environment, and to dynamically change this configuration in response to failures. Our approach is based on artificial intelligence planning techniques, and it is provably sound, complete and optimal. Moreover, our configuration planner can be combined with an action planner to deal with tasks that require sequences of configurations. We illustrate our approach on a specific type of network robot system, called Peis-Ecology, and show experiments in which a sequence of configurations is automatically generated and executed on real robots. These experiments demonstrate that our self-configuration approach can help the system to achieve greater autonomy, flexibility and robustness.