11 accepted papers
This work presents a novel approach for the online supervision of robotic systems assembled from multiple complex components with skillset-based architectures, using Petri nets (PN). Predictive runtime verification is performed, which warns the system user about actions that would lead to the violat…
Performing a complex autonomous mission with a multi-robot system requires to integrate several deliberative approaches to perform task allocation, optimization, and execution control. Implementing such a deliberative architecture is a complex task: it requires the developer to master the decision a…
In this paper, we study the effects of impaired communications on the performances of auction-based task allocation in a dynamic surveillance scenario. We propose a novel connectivity term to include in the bid valuation formula, that aims at improving communications in the multi-robot team. We eval…
In this article we propose a decision process integrating Non-Monotonic Reasoning (NMR), embedded in a deliberative architecture. The NMR process uses Default Logic to implement goal reasoning, managing partially observable or incomplete information, allowing the design of default behaviours complet
We propose a decentralized approach that simultaneously allocates and decomposes high level tasks among various robots. The approach exploits HTN structures and algorithms, that are used within an auction-based allocation scheme, and aims at dealing with complex tasks with causal or temporal relatio…
In this paper, we propose a formal language to specify robot skills, i.e. the elementary behaviours or functions provided by the robot platform in order to perform an autonomous mission. The advantage of the language we propose is that it integrates a wide range of elements that allows to define and…
We consider a problem minimizing the total duration of accomplishing missions performed by heterogeneous vehicles. The problem respects constraints related to vehicles' capabilities and energy capacities. The goal is to determine the best routes of each vehicle deployed by choosing which waypoints t…
Fault-tolerant architectures are mandatory to ensure the robustness of autonomous robots performing missions in complex and uncertain environments. The first step of a fault-tolerant mechanism is the detection of a faulty behavior of the system. It is then important to provide tools to help robot de…
Acting systems aim at refining high-level actions into executable commands, while managing access to resources, possible failures, or any other unpredictable situation. Improving the trust on autonomous robots also requires to have a formal model of acting, and the capability to perform some analysi…
Field multi-robot missions face numerous unavoidable disturbances, such as delays in executing tasks and intermittent communications. Coping with such disturbances requires to endow the robots with high-level decision skills. We present a distributed decision architecture based first on a hybrid pla…
Providing guarantees on the system behavior is mandatory in order to let the robots enter our every-day life. Among these guarantees, proving the fulfillment of real-time constraints on the software is a key issue, as their violation could result into unexpected and unsafe behaviors. In this paper,…