INTROSPECTION ON CONTROL-GROUNDED CAPABILITIES - A Task Allocation Study Case in Robot Soccer

Christian G. Quintero M., Salvador Ibarra M., Josep Ll. De la Rosa, Josep Vehí

Abstract

Our proposal is aimed at achieving reliable task allocation in physical multi-agent systems by means of introspection on their dynamics. This new approach is beneficial as it improves the way agents can coordinate with each other to perform the proposed tasks in a real cooperative environment. Introspection aims at including reliable physical knowledge of the controlled systems in the agents’ decision-making. To that end, introspection on control-grounded capabilities, inspired by the agent metaphor, are used in the task utility/cost functions. Such control-grounded capabilities guarantee an appropriate agent-oriented representation of the specifications and other relevant details encapsulated in every automatic controller of the controlled systems. In particular, this proposal is demonstrated in the successful performing of tasks by cooperative mobile robots in a simulated robot soccer environment. Experimental results and conclusions are shown, stressing the relevance of this new approach in the sure and trustworthy attainment of allocated tasks for improving multi-agent performance.

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Paper Citation


in Harvard Style

G. Quintero M. C., Ibarra M. S., Ll. De la Rosa J. and Vehí J. (2007). INTROSPECTION ON CONTROL-GROUNDED CAPABILITIES - A Task Allocation Study Case in Robot Soccer . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 461-467. DOI: 10.5220/0001641504610467


in Bibtex Style

@conference{icinco07,
author={Christian G. Quintero M. and Salvador Ibarra M. and Josep Ll. De la Rosa and Josep Vehí},
title={INTROSPECTION ON CONTROL-GROUNDED CAPABILITIES - A Task Allocation Study Case in Robot Soccer},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={461-467},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001641504610467},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - INTROSPECTION ON CONTROL-GROUNDED CAPABILITIES - A Task Allocation Study Case in Robot Soccer
SN - 978-972-8865-83-2
AU - G. Quintero M. C.
AU - Ibarra M. S.
AU - Ll. De la Rosa J.
AU - Vehí J.
PY - 2007
SP - 461
EP - 467
DO - 10.5220/0001641504610467