Skip to main content
SpringerLink
Log in

Synthesis of the Behavior Plan for Group of Robots with Sign Based World Model

  • Conference paper
  • First Online:
Interactive Collaborative Robotics (ICR 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10459))

Included in the following conference series:

Abstract

The paper considers the task of the group’s collective plan intellectual agents. Robotic systems are considered as agents, possessing a manipulator and acting with objects in a determined external environment. The MultiMAP planning algorithm proposed in the article is hierarchical. It is iterative and based on the original sign representation of knowledge about objects and processes, agents knowledge about themselfs and about other members of the group. For distribution actions between agents in general plan signs “I” and “Other” (“They”) are used. In conclusion, the results of experiments in the model problem “Blocksworld” for a group of several agents are presented.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Brafman, R.I.: A privacy preserving algorithm for multi-agent planning and search. In: Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence (IJCAI 2015), pp. 1530–1536 (2015)

    Google Scholar 

  2. Emel’yanov, S., Makarov, D., Panov, A.I., Yakovlev, K.: Multilayer cognitive architecture for UAV control. Cogn. Syst. Res. 39, 58–72 (2016)

    Article  Google Scholar 

  3. Gerevini, A.E., Long, D.: Plan constraints and preferences in PDDL3. Technical report (2005)

    Google Scholar 

  4. Gupta, N., Nau, D.S.: On the complexity of blocks-world planning. Artif. Intell. 56(2–3), 223–254 (1992)

    Article  MathSciNet  MATH  Google Scholar 

  5. Hayes, B., Scassellati, B.: Effective robot teammate behaviors for supporting sequential manipulation tasks. In: International Conference on Intelligent Robots and Systems, pp. 6374–6380 (2015)

    Google Scholar 

  6. Hélie, S., Sun, R.: Autonomous learning in psychologically-oriented cognitive architectures: a survey. New Ideas Psychol. 34(1), 37–55 (2014)

    Article  Google Scholar 

  7. Hexmoor, H., Eluru, S., Sabaa, H.: Plan sharing: showcasing coordinated UAV formation flight. Informatica (Ljubljana) 30(2), 183–192 (2006)

    Google Scholar 

  8. Ivanov, D., Kalyaev, I., Kapustyan, S.: Formation task in a group of quadrotors. In: Kim, J.-H., Yang, W., Jo, J., Sincak, P., Myung, H. (eds.) Robot Intelligence Technology and Applications 3. AISC, vol. 345, pp. 183–191. Springer, Cham (2015). doi:10.1007/978-3-319-16841-8_18

    Google Scholar 

  9. Kahneman, D.: Thinking Fast and Slow. Penguin, New York (2011)

    Google Scholar 

  10. Kitano, H., Asada, M., Kuniyoshi, Y., Noda, I., Osawai, E., Matsubara, H.: RoboCup: a challenge problem for AI and robotics. In: Kitano, H. (ed.) RoboCup 1997. LNCS, vol. 1395, pp. 1–19. Springer, Heidelberg (1998). doi:10.1007/3-540-64473-3_46

    Chapter  Google Scholar 

  11. Leontyev, A.N.: The Development of Mind. Erythros Press and Media, Kettering (2009)

    Google Scholar 

  12. Maliah, S., Shani, G., Stern, R.: Collaborative privacy preserving multi-agent planning. Auton. Agents Multi-Agent Syst. 31(3), 493–530 (2017)

    Article  Google Scholar 

  13. Osipov, G.S.: Sign-based representation and word model of actor. In: Yager, R., Sgurev, V., Hadjiski, M., Jotsov, V. (eds.) 2016 IEEE 8th International Conference on Intelligent Systems (IS), pp. 22–26. IEEE (2016)

    Google Scholar 

  14. Osipov, G.S., Panov, A.I., Chudova, N.V.: Behavior control as a function of consciousness. I. World model and goal setting. J. Comput. Syst. Sci. Int. 53(4), 517–529 (2014)

    Article  MathSciNet  MATH  Google Scholar 

  15. Osipov, G.S., Panov, A.I., Chudova, N.V.: Behavior control as a function of consciousness. II. Synthesis of a behavior plan. J. Comput. Syst. Sci. Int. 54(6), 882–896 (2015)

    Article  MathSciNet  Google Scholar 

  16. Osipov, G.S.: Signs-based vs. symbolic models. In: Sidorov, G., Galicia-Haro, S.N. (eds.) MICAI 2015. LNCS, vol. 9413, pp. 3–11. Springer, Cham (2015). doi:10.1007/978-3-319-27060-9_1

    Chapter  Google Scholar 

  17. Panov, A.I.: Behavior planning of intelligent agent with sign world model. Biol. Inspired Cogn. Archit. 19, 21–31 (2017)

    Google Scholar 

  18. Panov, A.I., Yakovlev, K.: Behavior and path planning for the coalition of cognitive robots in smart relocation tasks. In: Kim, J.-H., Karray, F., Jo, J., Sincak, P., Myung, H. (eds.) Robot Intelligence Technology and Applications 4. AISC, vol. 447, pp. 3–20. Springer, Cham (2017). doi:10.1007/978-3-319-31293-4_1

    Chapter  Google Scholar 

  19. Panov, A.I., Yakovlev, K.S.: Psychologically inspired planning method for smart relocation task. Proc. Comput. Sci. 88, 115–124 (2016)

    Article  Google Scholar 

  20. Richter, S., Westphal, M.: The LAMA planner: guiding cost-based anytime planning with landmarks. J. Artif. Intell. Res. 39, 127–177 (2010)

    MATH  Google Scholar 

Download references

Acknowledgments

This work was supported by the Russian Science Foundation (Project No. 16-11-00048).

Author information

Authors and Affiliations

  1. Federal Research Center “Computer Science and Control”, Russian Academy of Sciences, Moscow, Russia

    Gleb A. Kiselev & Aleksandr I. Panov

  2. National Research University Higher School of Economics, Moscow, Russia

    Aleksandr I. Panov

Authors
  1. Gleb A. Kiselev
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Aleksandr I. Panov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Aleksandr I. Panov .

Editor information

Editors and Affiliations

  1. SPIIRAS , St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. Tomsk State University , Tomsk, Russia

    Roman Meshcheryakov

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Kiselev, G.A., Panov, A.I. (2017). Synthesis of the Behavior Plan for Group of Robots with Sign Based World Model. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2017. Lecture Notes in Computer Science(), vol 10459. Springer, Cham. https://doi.org/10.1007/978-3-319-66471-2_10

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-66471-2_10

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-66470-5

  • Online ISBN: 978-3-319-66471-2

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation