Abstract
In dynamic and complex multi-robot scenarios, the task assignment is a challenging and crucial topic, because it has to be very flexible and robust or in some sense fault-tolerant to achieve a certain degree of redundancy which is often required in these scenarios. To cope with these requirements, a dynamic task assignment approach based on self-organization principles adopted from nature is presented. In this work, a team of soccer playing robots is used to validate the suggested self-organized dynamic task assignment in dynamic domains with real-time constraints.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
M. Becht, T. Buchheim, P. Burger, G. Hetzel, G. Kindermann, R. Lafrenz, N. Oswald, M. Schanz, M. Schulße, P. Molnär, J. Starke, and P. Levi. Three-index assignment of robots to targets: An experimental verication. In IAS-6, 2000.
H. Haken. Advanced Synergetics. Springer Series in Synergetics. Springer-Verlag, Heidelberg, Berlin, New York, 1983.
H. Haken. Synergetics, An Introduction. Springer Series in Synergetics. Springer-Verlag, Heidelberg, Berlin, New York, 1983.
M. Lötzsch, J. Bach, H.-D. Burkhard, and M. Jüngel. Designing agent behavior with the extensible agent behavior specication language xabsl. In 7th International Workshop on RoboCup, 2003.
P. Molnär 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.
Daniela Nicklas, Matthias Großmann, Thomas Schwarz, Steen Volz, and Bernhard Mitschang. A model-based, open architecture for mobile, spatially aware applications. Article in proceedings, Universität Stuttgart: Sonderforschungsbereich SFB 627 (Nexus: Umgebungsmodelle für mobile kontextbezogene Systeme), July 2001.
G. Nicolis and I. Prigogine. Self-Organization in Non-Equilibrium Systems. Wiley, New York, 1977.
Heiko Ottenbacher. Multiagenten planmodellierung. Master’s thesis, University of Stuttgart, 2004.
RoboCup Ocial Website. http://www.robocup.org.
M. Schulèe, M. Schanz, H. Felger, R. Lafrenz, J. Starke, and P. Levi. Control of autonomous robots in the robocup scenario using coupled selection equations. In Autonome Mobile Systeme, pages 57–63. Springer, 2001.
M. Schulße, M. Schanz, H. Felger, J. Starke, and P. Levi. Dynamic control of autonomous robots using coupled selection equations. In Robotik, 2002.
SFB 627: Nexus-Spatial World Models for Mobile Context-Aware Applications. http://www.nexus.uni-stuttgart.de.
J. Starke. Kombinatorische Optimierung auf der Basis gekoppelter Selektionsgleichungen. PhD thesis, Universität Stuttgart, Verlag Shaker, Aachen, 1997.
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.
J. Starke, C. Ellsässer, and Fukuda. Self-organized control in cooperative robots using pattern formation principles. submitted.
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.
J. Starke, M. Schanz, and H. Haken. Self-organized behaviour of distributed autonomous mobile robotic systems by pattern formation principles. In T. Lueth, R. Dillmann, P. Dario, and H. Worn, editors, Distributed Autonomous Robotic Systems 3, pages 89–100. Springer Verlag, Heidelberg, Berlin, New York, 1998.
Oliver Zweigle, Reinhard Lafrenz, Thorsten Buchheim, Hamid Rajaie, Frank Schreiber, and Paul Levi. Cooperative agent behavior based on special interaction nets. Submitted to: Intelligent Autonomous Systems 9, 2006.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Schanz, M. et al. (2006). Dynamic Task Assignment in a Team of Agents. In: Levi, P., Schanz, M., Lafrenz, R., Avrutin, V. (eds) Autonome Mobile Systeme 2005. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-30292-1_2
Download citation
DOI: https://doi.org/10.1007/3-540-30292-1_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-30291-9
Online ISBN: 978-3-540-30292-6
eBook Packages: Computer Science and Engineering (German Language)