| Élément Dublin Core | Valeur | Langue |
|---|
| dc.contributor.author | Gil, Eric Bernd | - |
| dc.contributor.author | Rodrigues, Genaína Nunes | - |
| dc.contributor.author | Pelliccione, Patrizio | - |
| dc.contributor.author | Calinescu, Radu | - |
| dc.date.accessioned | 2024-11-13T17:33:46Z | - |
| dc.date.available | 2024-11-13T17:33:46Z | - |
| dc.date.issued | 2023-02-28 | - |
| dc.identifier.citation | GIL, Eric Bernd et al. Mission specification and decomposition for multi-robot systems. Robotics and Autonomous Systems, [S.l.], v. 163, 2023. DOI: https://doi.org/10.1016/j.robot.2023.104386. Disponível em: https://www.sciencedirect.com/science/article/pii/S0921889023000258?via%3Dihub. Acesso em: 13 nov. 2024. | pt_BR |
| dc.identifier.uri | http://repositorio.unb.br/handle/10482/50893 | - |
| dc.language.iso | eng | pt_BR |
| dc.publisher | Elsevier B.V. | pt_BR |
| dc.rights | Acesso Aberto | pt_BR |
| dc.title | Mission specification and decomposition for multi-robot systems | pt_BR |
| dc.type | Artigo | pt_BR |
| dc.subject.keyword | Sistemas Multi-Robô | pt_BR |
| dc.subject.keyword | Automação de processo | pt_BR |
| dc.subject.keyword | Alocação de tarefas (Computação) | pt_BR |
| dc.subject.keyword | Decomposição de missão (Computação) | pt_BR |
| dc.subject.keyword | Robôs - programação | pt_BR |
| dc.rights.license | This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/). | pt_BR |
| dc.identifier.doi | https://doi.org/10.1016/j.robot.2023.104386 | pt_BR |
| dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0921889023000258?via%3Dihub | pt_BR |
| dc.description.abstract1 | Service robots are increasingly being used to perform missions comprising dangerous or tedious tasks
previously executed by humans. However, their users—who know the environment and requirements
for these missions—have limited or no robotics experience. As such, they often find the process of
allocating concrete tasks to each robot within a multi-robot system (MRS) very challenging. Our
paper introduces a framework for Multi-Robot mission Specification and decomposition (MutRoSe) that
simplifies and automates key activities of this process. To that end, MutRoSe allows an MRS mission
designer to define all relevant aspects of a mission and its environment in a high-level specification
language that accounts for the variability of real-world scenarios, the dependencies between task
instances, and the reusability of task libraries. Additionally, MutRoSe automates the decomposition
of MRS missions defined in this language into task instances, which can then be allocated to specific
robots for execution—with all task dependencies appropriately taken into account. We illustrate the
application of MutRoSe and show its effectiveness for four missions taken from a recently published
repository of MRS applications. | pt_BR |
| dc.contributor.affiliation | Universidade de Brasilia, Instituto de Ciências Exatas, Departamento de Ciência da Computação | pt_BR |
| dc.contributor.affiliation | Universidade de Brasilia, Instituto de Ciências Exatas, Departamento de Ciência da Computação | pt_BR |
| dc.contributor.affiliation | Gran Sasso Science Institute | pt_BR |
| dc.contributor.affiliation | University of York, Department of Computer Science | pt_BR |
| dc.description.unidade | Instituto de Ciências Exatas (IE) | pt_BR |
| dc.description.unidade | Departamento de Ciência da Computação (IE CIC) | pt_BR |
| dc.description.ppg | Programa de Pós-Graduação em Informática | pt_BR |
| Collection(s) : | Artigos publicados em periódicos e afins
|
