Talks and Poster Presentations (with Proceedings-Entry):
D. Drenjanac, L. Klausner, E. Kühn, S. Tomic:
"Semantic Shared Spaces for Task Allocation in a Robotic Fleet for Precision Agriculture";
Talk: 7th Metadata and Semantics Research Conference (MTSR), Special Track on Metadata and Semantics for Agriculture, Food & Environment (AgroSEM 2013),
- 2013-11-22; in: "Metadata and Semantics Research",
E. Garoufallou, J. Greenberg (ed.);
CCIS / Springer,
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.
Task Allocation, Space-Based Computing, Semantics, Robotic Fleet
"Official" electronic version of the publication (accessed through its Digital Object Identifier - DOI)
Created from the Publication Database of the Vienna University of Technology.