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  • © 2013

Modelling and Controlling of Behaviour for Autonomous Mobile Robots

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  • Publication in the field of technical sciences

  • Includes supplementary material: sn.pub/extras

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Table of contents (11 chapters)

  1. Front Matter

    Pages 1-1
  2. Preliminaries

    1. Front Matter

      Pages 1-1
    2. Introduction

      • Hendrik Skubch
      Pages 3-12
    3. Foundations

      • Hendrik Skubch
      Pages 13-20
    4. Related Work

      • Hendrik Skubch
      Pages 21-32
  3. Propositional ALICA

    1. Front Matter

      Pages 33-33
    2. Syntax

      • Hendrik Skubch
      Pages 35-50
    3. Semantics

      • Hendrik Skubch
      Pages 51-111
    4. Conflict Detection and Resolution

      • Hendrik Skubch
      Pages 113-125
    5. Software Architecture

      • Hendrik Skubch
      Pages 127-137
  4. General ALICA

    1. Front Matter

      Pages 139-139
    2. Generalising ALICA

      • Hendrik Skubch
      Pages 141-163
    3. Solving Constraint Problems

      • Hendrik Skubch
      Pages 165-191
  5. Assessment

    1. Front Matter

      Pages 193-193
    2. Evaluation

      • Hendrik Skubch
      Pages 195-233
    3. Conclusion

      • Hendrik Skubch
      Pages 235-238
  6. Back Matter

    Pages 17-17

About this book

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.

Authors and Affiliations

  • Universität Kassel, Kassel, Germany

    Hendrik Skubch

About the author

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.

Bibliographic Information

  • Book Title: Modelling and Controlling of Behaviour for Autonomous Mobile Robots

  • Authors: Hendrik Skubch

  • DOI: https://doi.org/10.1007/978-3-658-00811-6

  • Publisher: Springer Vieweg Wiesbaden

  • eBook Packages: Computer Science, Computer Science (R0)

  • Copyright Information: Springer Fachmedien Wiesbaden 2013

  • Softcover ISBN: 978-3-658-00810-9Published: 26 November 2012

  • eBook ISBN: 978-3-658-00811-6Published: 27 November 2012

  • Edition Number: 1

  • Number of Pages: XVII, 259

  • Number of Illustrations: 30 b/w illustrations, 16 illustrations in colour

  • Topics: Artificial Intelligence

Buy it now

Buying options

eBook USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Other ways to access