Adaptive Run-Time Models for Groups of Autonomous Robots

摘要

Autonomous robots have a great potential to help in disaster scenarios. Nevertheless, each robot is faced with the variety of these scenarios and the difficulties of cooperation with heterogeneous robots and human actors of other rescue forces. Furthermore, approaches using predefined adaptation models are not flexible enough for these scenarios. Therefore, we propose an adaptive configuration of the information processing to enable the collaboration of heterogeneous groups. We present two contributions in this paper: a) An ontology to describe the semantics of information processing components and the structure of information, b) The composition of these components to an adaptation model at run-time. To coordinate the information sharing and integration of new discovered information sources at run-time, we further provide a general framework. Finally, we describe how to apply our approach in a fictitious scenario.