Modelling and Controlling of Behaviour for Autonomous Mobile Robots by Hendrik SkubchModelling and Controlling of Behaviour for Autonomous Mobile Robots by Hendrik Skubch

Modelling and Controlling of Behaviour for Autonomous Mobile Robots

byHendrik Skubch

Paperback | November 26, 2012

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As research progresses, it enables multi-robot systems to be used in more and more complex and dynamic scenarios. Hence, the question arises how different modelling and reasoning paradigms can be utilised to describe the intended behaviour of a team and execute it in a robust and adaptive manner. Hendrik Skubch presents a solution, ALICA (A Language for Interactive Cooperative Agents) which combines modelling techniques drawn from different paradigms in an integrative fashion. Hierarchies of finite state machines are used to structure the behaviour of the team such that temporal and causal relationships can be expressed. Utility functions weigh different options against each other and assign agents to different tasks. Finally, non-linear constraint satisfaction and optimisation problems are integrated, allowing for complex cooperative behaviour to be specified in a concise, theoretically well-founded manner.

Dr. Hendrik Skubch completed his doctoral degree under the supervision of Prof. Dr. Kurt Geihs at the Distributed Systems Group at the University of Kassel.
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Title:Modelling and Controlling of Behaviour for Autonomous Mobile RobotsFormat:PaperbackDimensions:259 pagesPublished:November 26, 2012Publisher:Springer-Verlag/Sci-Tech/TradeLanguage:English

The following ISBNs are associated with this title:

ISBN - 10:3658008105

ISBN - 13:9783658008109

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Table of Contents

Task Allocation.- Distributed Constraint Solving.- Multi-Robot Systems.- Cooperation.- Plan Execution.- Behaviour Modelling.