Collective robotics: from social insects to robots
Adaptive Behavior
Managing Conflicts in Goal-Driven Requirements Engineering
IEEE Transactions on Software Engineering
Artificial Intelligence - Special issue on Robocop: the first step
First Results in the Coordination of Heterogeneous Robots for Large-Scale Assembly
ISER '00 Experimental Robotics VII
Towards Modeling and Reasoning Support for Early-Phase Requirements Engineering
RE '97 Proceedings of the 3rd IEEE International Symposium on Requirements Engineering
A capabilities-based model for adaptive organizations
Autonomous Agents and Multi-Agent Systems
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RELAX: Incorporating Uncertainty into the Specification of Self-Adaptive Systems
RE '09 Proceedings of the 2009 17th IEEE International Requirements Engineering Conference, RE
MODELS '09 Proceedings of the 12th International Conference on Model Driven Engineering Languages and Systems
Modelling electronic organizations
CEEMAS'03 Proceedings of the 3rd Central and Eastern European conference on Multi-agent systems
Requirements reflection: requirements as runtime entities
Proceedings of the 32nd ACM/IEEE International Conference on Software Engineering - Volume 2
O-MaSE: a customisable approach to designing and building complex, adaptive multi-agent systems
International Journal of Agent-Oriented Software Engineering
An Organizational Design for Adaptive Sensor Networks
WI-IAT '10 Proceedings of the 2010 IEEE/WIC/ACM International Conference on Web Intelligence and Intelligent Agent Technology - Volume 02
Requirements-Aware Systems: A Research Agenda for RE for Self-adaptive Systems
RE '10 Proceedings of the 2010 18th IEEE International Requirements Engineering Conference
RE '10 Proceedings of the 2010 18th IEEE International Requirements Engineering Conference
OMNI: introducing social structure, norms and ontologies into agent organizations
ProMAS'04 Proceedings of the Second international conference on Programming Multi-Agent Systems
COBOS: Cooperative backoff adaptive scheme for multirobot task allocation
IEEE Transactions on Robotics
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This paper presents a reusable framework for developing adaptive multi-robotic systems for heterogeneous robot teams using an organization-based approach. The framework is based on the Organizational Model for Adaptive Computational Systems (OMACS) and the Goal Model for Dynamic Systems (GMoDS). GMoDS is used to capture system-level goals that drive the system. OMACS is an abstract model used to capture the system configuration and allows the team to organize and reorganize without the need for explicit runtime reorganization rules. While OMACS provides an implicit reorganization capability, it also supports policies that can either guide or restrict the resulting organizations thus limiting unexpected or harmful adaptation. We demonstrate our framework by presenting the design and implementation of a multi-robot system for detecting improvised explosive devices. We then highlight the adaptability of the resulting system.