Multi-robot cooperation through the common use of "mechanisms"

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HAL Id: hal-01979740

https://hal.laas.fr/hal-01979740

Submitted on 18 Jan 2019

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Multi-robot cooperation through the common use of

”mechanisms”

Silvia Silva da Costa Botelho, Rachid Alami

To cite this version:

Silvia Silva da Costa Botelho, Rachid Alami. Multi-robot cooperation through the common use of ”mechanisms”. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2001, Maui, United States. �hal-01979740�

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Task Achievement High Level Decomposition M+CTA M+ Cooperative M+NTA M+ Negotiation for Task Allocation M+ System Communication with others Approach Our allocated task problems? opportunism Centralized mission Decentralized tasks task achievement redundancy avoid conflicts Merging Planning task allocation mission planning

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. .. {attx|attx=ATT(?object):?value} name−mechanism(?entity) Begin−state= End−State= {Eventn|Eventn=Event(ATT(?object):?new_valuen−1,?new−valuen,?en) List−Eventn= {attx|attx=ATTx(?object):?valuen} ruleh=Rule(?type,state−violation,u,proposed−state)}} Path1 {Event1x|Event1x=Event(ATT(?object):?value,?new−value1,?e1)} List−Event1=Pathi i i i . . . Rules−list={Ev−rulej|Ev−rulej={ruleh|

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Rp plan go to furnace open put object turn −

on furnace go to cellA manipulate go to furnace pick object fechar

−

porta

turn

−

off furnace

e11 e12 e13 e14 e15 e16 e17 e18 e19 e20

door−state:DOOR−FS1,CLOSED furnace−state(S1−FURNACE):OFF furnace−state(S1−FURNACE):OFF door−state(DOOR−FS1):CLOSED furnace−state(DOOR−FS1):CLOSED door−state(DOOR−FS1):OPENED furnace−state(S1−FURNACE):ON Event (door−state(DOOR−FS1):(Closed,Opened),e12),Rp,Suc={e13} Event (furnace−state(S1−FURNACE):(OFF,ON),e14),Rp,Suc={e18} Event (furnace−state(S1−FURNACE):(ON,OFF),e20),Rp,Suc={} Event (door−state(DOOR−FS1):(opened,closed),e19),Rp,Suc={} Use−furnace(S1−FURNACE,2)

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Job treatment Coordination Mq_j Mq’_j Mp’_j Mp_j Mq’ Rp plan Rq plan j Fusion meal1 container4 container3 meal3 Station1 open_−area open_−area door0 door1 Station4 Station3 Station9 station8 meal2 Station0

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state−room(?r):CLEAN End State state−room(?r):DIRTY clean−room(?r) Begin state Event(state−room(?r):DIRTY,CLEAN,?e1) pos−robot(?robot):?old−station occuped−station(?new−station) pos−robot(?robot):OPEN−AREA End State Begin state Event(pos−robot(?robot):?old−station,?new−station,?e1) Event(pos−robot(?robot),?new−station,OPEN−AREA,?e2) state−door(?d):CLOSE door(?d) state−door(?d):CLOSE End State Begin state Event(state−door(?d):CLOSE,OPEN,?e1) Event(state−door(?d):OPEN,CLOSE,?e2) Amount−rule(pos−robot,1,?new−sta tion,OPEN−AREA) ?e1: redundant cooperative action action coordination next task (T7) next task (T8) current past future additional plan coordination

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current past future

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Deleted actions Accomplished actions