Plan-Based Configuration of a Group of Robots

Imagine the following situation. You give your favorite robot, named Pippi, the task to fetch a parcel that just arrived at your front door. While pushing the parcel back to you, she must travel through a door opening. Unfortunately, the parcel she is pushing is blocking her camera, giving her a hard time to see the door to cross. If she cannot see the door, she cannot safely push the parcel through the door opening. What would you as a human do in a similar situation? Most probably you would ask someone for help, someone to guide you through the door, as we ask for help then we need to park our car in a tight parking spot. Why not let the robots do the same? Why not let robots help each other. Luckily for Pippi, there is another robot, named Emil, vacuum cleaning the floor in the same room. Since Emil can view both Pippi and the door at the same time, he can guide pippi through the door, enabling her to deliver the parcel to you.This work is about societies of autonomous robots in which robots…


1 Introduction
1.1 Objectives of this thesis
1.2 Thesis Outline
2 Related Work
2.1 Multi-Robot Systems
2.1.1 Degrees of Coordination in MRS
2.2 Approaches to Robot Team Coordination
2.2.1 Loose Coordination
2.2.2 Tight Coordination
2.3 Middle-Ware for Multi-Robot Systems
2.4 Automatic configuration
2.4.1 Program Supervision
2.4.2 Automated Web Service Composition
2.5 Discussion
3 Functional Configuration
3.1 Preliminaries
3.2 Functionality
3.3 Resource
3.4 Channel
3.5 Configuration
3.6 Examples
4 Planning for Configurations
4.1 Problem Statement
4.2 Configuration Planning vs. Action Planning
4.3 Hierarchical Planning
4.4 Representation
4.5 The Configuration Planner
4.6 Example
5 Executing Configurations
5.1 Sort, Divide, and Deploy Configurations
5.2 Implementation of Basic Components
5.2.1 Functionality
5.2.2 Channel
5.3 Translation of configuration description
5.4 Example
5.5 Monitoring the Execution
6 Experiments
6.1 The Robot Platform
6.2 Cross a Door
6.2.1 Setup
6.2.2 Execution
6.2.3 Summary
6.3 Carry a Bar
6.3.1 Setup
6.3.2 Execution
6.3.3 Discussion
6.4 Build a Wall
6.5 Summary
7 Conclusions
7.1 What has been achieved?
7.2 Limitations of our approach
7.3 Future Wor
A Functionality Operators and Methods
A.1 Cross a Door
A.1.1 Sensing Resources
A.1.2 Action Resources
A.1.3 Functionalities
A.1.4 Methods
A.2 Carry a Bar
A.2.1 Sensing Resources
A.2.2 Action Resources
A.2.3 Functionalities
A.2.4 Methods
A.3 Build a Wall
A.3.1 Sensing Resources
A.3.2 Action Resources
A.3.3 Functionalities
A.3.4 Methods

Author: Lundh, Robert

Source: Orebro University

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