Decentralized decision making in adaptive multi-robot teams
| dc.contributor.author | Geihs, Kurt | |
| dc.contributor.author | Witsch, Andreas | |
| dc.date.accessioned | 2021-06-21T10:12:43Z | |
| dc.date.available | 2021-06-21T10:12:43Z | |
| dc.date.issued | 2018 | |
| dc.description.abstract | We present our decision support middleware PROViDE that facilitates decentralized decision making in multi-robot teams operating in highly dynamic environments with potentially unreliable communication channels and noisy sensors. Achieving an adaptive team behavior in such an environment is a challenge because the specific conditions require a fully decentralized decision process. The design of PROViDE borrows inspiration from human decision making processes. PROViDE supports replication of proposals, conflict resolution, and final team-decision making. For each of these steps a choice of methods is offered to the developer to provide flexibility for different application requirements and characteristics of execution environments. PROViDE is integrated into a comprehensive modeling framework for multi-robot systems. The main contributions of this paper are twofold: For the development of adaptive multi-robot teams we discuss requirements for a middleware that supports decentralized decision making in dynamic and adverse environments, and we demonstrate the effective and coherent integration of a set of domain-dependent decision support protocols into a middleware framework. | en |
| dc.identifier.doi | 10.1515/itit-2017-0029 | |
| dc.identifier.pissn | 2196-7032 | |
| dc.identifier.uri | https://dl.gi.de/handle/20.500.12116/36619 | |
| dc.language.iso | en | |
| dc.publisher | De Gruyter | |
| dc.relation.ispartof | it - Information Technology: Vol. 60, No. 4 | |
| dc.subject | multi-agent systems | |
| dc.subject | robotics | |
| dc.subject | cooperation and coordination | |
| dc.subject | middleware | |
| dc.title | Decentralized decision making in adaptive multi-robot teams | en |
| dc.type | Text/Journal Article | |
| gi.citation.endPage | 248 | |
| gi.citation.publisherPlace | Berlin | |
| gi.citation.startPage | 239 |