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\iteman{io-port 05980980}
\itemau{Doherty, Patrick; Heintz, Fredrik; Land\'en, David}
\itemti{A delegation-based architecture for collaborative robotics.}
\itemso{Weyns, Danny (ed.) et al., Agent-oriented software engineering XI. 11th international workshop, AOSE 2010, Toronto, Canada, May 10--11, 2010. Revised selected papers. Berlin: Springer (ISBN 978-3-642-22635-9/pbk). Lecture Notes in Computer Science 6788, 205-247 (2011).}
\itemab
Summary: Collaborative robotic systems have much to gain by leveraging results from the area of multi-agent systems and in particular agent-oriented software engineering. Agent-oriented software engineering has much to gain by using collaborative robotic systems as a testbed. In this article, we propose and specify a formally grounded generic collaborative system shell for robotic systems and human operated ground control systems. Collaboration is formalized in terms of the concept of delegation and delegation is instantiated as a speech act. Task Specification Trees are introduced as both a formal and pragmatic characterization of tasks and tasks are recursively delegated through a delegation process implemented in the collaborative system shell. The delegation speech act is formally grounded in the implementation using Task Specification Trees, task allocation via auctions and distributed constraint problem solving. The system is implemented as a prototype on Unmanned Aerial Vehicle systems and a case study targeting emergency service applications is presented.
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\itemli{doi:10.1007/978-3-642-22636-6\_13}
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