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Time-Informed, Adaptive Multi-robot Synchronization

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From Animals to Animats 14 (SAB 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9825))

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Abstract

Timely interaction is a key topic for multi-robot systems operating in the real world. The present work puts forward a new approach for multi-robot synchronization that is based on representing temporal constraints as fuzzy numbers. By using fuzzy arithmetic it is possible to process temporal constraints, analyze their relations, detect temporal gaps, and additionally develop corrective measures that minimize these gaps. The present study addresses temporal planning by directing the robotic agents to (i) adapt their speed to accomplish task execution and, (ii) carry out simplified, yet acceptable, versions of the assigned tasks at faster speeds. The latter adaptations fit particularly well with the fuzzy theoretic approach that enables the direct calculation of their effects on the temporal plan. Accordingly, more efficient synchronization is accomplished in multi-robot coordinated task execution.

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Notes

  1. 1.

    The trapezoid representation of fuzzy numbers is not mandatory but simplifies calculations and therefore it is adopted in the present work.

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Acknowledgment

This work has been partially supported by the EU FET grant (GA: 641100) TIMESTORM - Mind and Time: Investigation of the Temporal Traits of Human-Machine Convergence.

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Authors and Affiliations

  1. Foundation for Research and Technology Helloas (FORTH), Heraklion, Crete, Greece

    Michail Maniadakis & Panos Trahanias

Authors
  1. Michail Maniadakis
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  2. Panos Trahanias
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Corresponding author

Correspondence to Michail Maniadakis .

Editor information

Editors and Affiliations

  1. Aberystwyth University, Aberystwyth, United Kingdom

    Elio Tuci

  2. Aberystwyth University, Aberystwyth, United Kingdom

    Alexandros Giagkos

  3. Aberystwyth University, Aberystwyth, United Kingdom

    Myra Wilson

  4. University of Southern Denmark, Odense, Denmark

    John Hallam

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Maniadakis, M., Trahanias, P. (2016). Time-Informed, Adaptive Multi-robot Synchronization. In: Tuci, E., Giagkos, A., Wilson, M., Hallam, J. (eds) From Animals to Animats 14. SAB 2016. Lecture Notes in Computer Science(), vol 9825. Springer, Cham. https://doi.org/10.1007/978-3-319-43488-9_21

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  • DOI: https://doi.org/10.1007/978-3-319-43488-9_21

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-43487-2

  • Online ISBN: 978-3-319-43488-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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