Abstract
In this paper we focus on methods for a reliable and robust mechanism to distribute roles among a team of cooperating robots. In previous work, we showed the principal applicability of a novel approach based on self organization using coupled selection equations. To show the applicability in the robocup scenario we used a simple scenario to assign the roles attacker and defender. In this paper we present the application of the novel approach to more realistic and complex scenarios like kick-off or pass play. One of the critical parts in this method is the parameterization of utility and activation functions used to determine the additional parameters.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
M. Lötzsch, J. Bach, H.-D. Burkhard, and M. Jüngel. Designing agent behavior with the extensible agent behavior specification language xabsl. In 7th International Workshop on RoboCup 2003 (Robot World Gup Soccer Games and Conferences, 2003.
J. Starke. Kombinatorische Optimierung auf der Basis gekoppelter Selektionsgleichungen. PhD thesis, Universität Stuttgart, Verlag Shaker, Aachen, 1997.
G. Nicolis and I. Prigogine. Self-Organization in Non-Equilibrium Systems. Wiley, New York, 1977.
H. Haken. Advanced Synergetics. Springer Series in Synergetics. Springer-Verlag, Heidelberg, Berlin, New York, 1983.
J. Starke and M. Schanz. Dynamical system approaches to combinatorial optimization. In D.-Z. Du and P. Pardalos, editors, Handbook of Combinatorial Optimization, volume 2, pages 471–524. Kluwer Academic Publisher, Dordrecht, Boston, London, 1998.
P. Molnár and J. Starke. Control of distributed autonomous robotic systems using principles of pattern formation in nature and pedestrian behaviour. IEEE Transaction on Systems, Men and Cybernetics: Part B, 31(3): 433–436, 2001.
J. Starke. Dynamical assignments of distributed autonomous robotic systems to manufacturing targets considering environmental feedbacks. In Proceedings of the 17th IEEE International Symposium on Intelligent Control (ISIC’02), pages 678–683, Vancouver, 2002.
M. Becht, T. Buchheim, P. Burger, G. Hetzel, G. Kindermann, R. Lafrenz, N. Oswald, M. Schanz, M. Schulé, P. Molnár, J. Starke, and P. Levi. Three-index assignment of robots to targets: An experimental verification. In IAS-6, 2000.
J. Starke, C. Ellsässer, and Fukuda. Self-organized control in cooperative robots using pattern formation principles. submitted, 2005.
M. Schanz, J. Starke, R. Lafrenz, O. Zweigle, M. Oubbati, H. Rajaie, F. Schreiber, T. Buchheim, U.-P. Käppeler, and P. Levi. Dynamic Task Assignment in a Team of Agents. In P. Levi et al., editor, Autonome Mobile Systeme, pages 11–18. Springer, 2005.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lafrenz, R. et al. (2007). Evaluating Coupled Selection Equations for Dynamic Task Assignment Using a Behavior Framework. In: Berns, K., Luksch, T. (eds) Autonome Mobile Systeme 2007. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74764-2_19
Download citation
DOI: https://doi.org/10.1007/978-3-540-74764-2_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74763-5
Online ISBN: 978-3-540-74764-2
eBook Packages: Computer Science and Engineering (German Language)