Modelling and Controlling of Behaviour for Autonomous Mobile Robots

  • Hendrik Skubch

Table of contents

  1. Front Matter
    Pages 1-1
  2. Preliminaries

    1. Front Matter
      Pages 1-1
    2. Hendrik Skubch
      Pages 3-12
    3. Hendrik Skubch
      Pages 13-20
    4. Hendrik Skubch
      Pages 21-32
  3. Propositional ALICA

    1. Front Matter
      Pages 33-33
    2. Hendrik Skubch
      Pages 35-50
    3. Hendrik Skubch
      Pages 51-111
    4. Hendrik Skubch
      Pages 113-125
    5. Hendrik Skubch
      Pages 127-137
  4. General ALICA

    1. Front Matter
      Pages 139-139
    2. Hendrik Skubch
      Pages 141-163
    3. Hendrik Skubch
      Pages 165-191
  5. Assessment

    1. Front Matter
      Pages 193-193
    2. Hendrik Skubch
      Pages 195-233
    3. Hendrik Skubch
      Pages 235-238
  6. Back Matter
    Pages 17-17

About this book


As research progresses, it enables multi-robot systems to be used in more and more complex and dynamic scenarios. Hence, the question arises how different modelling and reasoning paradigms can be utilised to describe the intended behaviour of a team and execute it in a robust and adaptive manner. Hendrik Skubch presents a solution, ALICA (A Language for Interactive Cooperative Agents) which combines modelling techniques drawn from different paradigms in an integrative fashion. Hierarchies of finite state machines are used to structure the behaviour of the team such that temporal and causal relationships can be expressed. Utility functions weigh different options against each other and assign agents to different tasks. Finally, non-linear constraint satisfaction and optimisation problems are integrated, allowing for complex cooperative behaviour to be specified in a concise, theoretically well-founded manner.



·         Task Allocation

·         Distributed Constraint Solving

·         Multi-Robot Systems

·         Cooperation

·         Plan Execution

·         Behaviour Modelling



Target Groups

Researchers and students in the fields of computer science, robotics, and artificial intelligence; artificial intelligence programmer.



Dr. Hendrik Skubch completed his doctoral degree under the supervision of Prof. Dr. Kurt Geihs at the Distributed Systems Group at the University of Kassel.


Behaviour Modelling Cooperation Distributed Constraint Solving Multi-Robot Systems Task Allocation

Authors and affiliations

  • Hendrik Skubch
    • 1
  1. 1.Universität KasselKasselGermany

Bibliographic information

  • DOI
  • Copyright Information Springer Fachmedien Wiesbaden 2013
  • Publisher Name Springer Vieweg, Wiesbaden
  • eBook Packages Computer Science
  • Print ISBN 978-3-658-00810-9
  • Online ISBN 978-3-658-00811-6
  • Buy this book on publisher's site
Industry Sectors
Chemical Manufacturing
Finance, Business & Banking
IT & Software
Energy, Utilities & Environment