Abstract
Task allocation is a fundamental problem in multi-robot systems where heterogeneous robots cooperate to perform a complex mission. A general requirement in a task allocation algorithm is to find an optimal set of robots to execute a certain task. This paper describes how coordination capabilities of the space-based middleware are extended with the semantic model of robot capabilities to improve the process of selection in terms of flexibility, scalability and reduced communication overhead during task allocation. We developed a framework that translates resources into a newly defined semantic model and performs automatic reasoning to assist the task allocation. We conducted performance tests in a specific precision agriculture use case based on the robotic fleet for weed control elaborated within European Project RHEA-Robot Fleets for Highly Effective Agriculture and Forestry Management.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Brahmi, Z., Gammoudi, M.M.: Semantic shared space-based complex tasks allocation method for massive MAS. In: Proc. of 2nd Int. Conf. on Computer Science and Information Tech., Beijing (2009)
Craß, S.: A formal model of the Extensible Virtual Shared Memory (XVSM) and its implementation in Haskell:Design and specification. Vienna University of Technology (2010)
Craß, S., Kühn, E., Salzer, G.: Algebraic Foundation of a Data Model for an Extensible Space-Based Collaboration Protocol. In: 13th Int. Database Engineering and Application Sym., Calabria, Italy (2009)
Gelernter, D.: Generative Communication in Linda. ACM Computing Survey (1985)
Klausner, L.: Semantic XVSM – design and implementation. Master Thesis, Vienna University of Technology (in progress)
RHEA project, http://www.rhea-project.eu/
Galindo, C., Fernandez-Madrigal, J.A., Gonzalez, J., Saffiotti, A.: Using Semantic Information for Improving Efficiency of Robot Task Planning. In: Proc. of ICRA Workshop on Semantic Information in Robotics, Rome, Italy (2007)
Mokarizadeh, S., Grosso, A., Matskin, M., Kungas, P., Haseeb, A.: Applying Semantic Web Service Composition for Action Planning in Multi-Robot Systems. In: 4th Int. Conf. on Internet and Web Application Services, Venice, Italy (2009)
Khushraj, D., Lassila, O., Finin, T.: sTuples: Semantic Tuple Spaces. In: Proc. of 1st Int. Conf. on Mobile and Ubiquitous Systems: Networking and Service, Boston, USA (2004)
Nixon, L., Simperl, E.P.B., Antonechko, O., Tolksdorf, R.: Towards Semantic Tuplespace Computing: The Semantic Web Spaces System. In: Symposium on Applied Computing, Seoul, Korea (2007)
Kühn, E., Mordinyi, R., Keszthelyi, L., Schreiber, C.: Introducing the Concept of Customizable Structured Spaces for Agent Coordination in the Production Automation Domain. In: Proc. 8th Int. Conf. Autonomous AgentsMultiagent Systems, Budapest, Hungary (2009)
Nardini, E., Omicini, A., Viroli, M.: Semantic tuple centres. J. Sci. Comput. Program. 78 (2013)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Drenjanac, D., Klausner, L., Kühn, E., Tomic, S.D.K. (2013). Semantic Shared Spaces for Task Allocation in a Robotic Fleet for Precision Agriculture. In: Garoufallou, E., Greenberg, J. (eds) Metadata and Semantics Research. MTSR 2013. Communications in Computer and Information Science, vol 390. Springer, Cham. https://doi.org/10.1007/978-3-319-03437-9_43
Download citation
DOI: https://doi.org/10.1007/978-3-319-03437-9_43
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03436-2
Online ISBN: 978-3-319-03437-9
eBook Packages: Computer ScienceComputer Science (R0)