Intelligent robots are rational agents. The rationality of robots working
cooperatively is significantly different from robots working independently.
Cooperation between intelligent robots requires the high level of reasoning and
complex interactions for successful operations. The required reasoning process
includes knowledge representation and sharing as well as the ability to understand
the context of a situation. The reasoning process heavily influences on the planning
of deciding what actions need to be taken. Goal deliberation and planning is the
process that deals with those requirements. This dissertation investigates the
problem of goal deliberation and planning to enable such cooperation between
goal-oriented intelligent robots, working as a team. The dissertation then proposes a
multi-robot system model that embraces results of the investigation. The proposed
model is realized on the top of the platform ‘robot operating system’ (ROS). The
implemented system, named ‘goal-oriented multi agent systems’ (GOMAS), is
demonstrated with the computer game, StarCraft II. Units in StarCraft II are
individually controlled by the GOMAS robots and work cooperatively to attain a
set of goals given from operators. The demonstration with the three different
scenarios validates that the GOMAS system successfully and efficiently deliberates
and plans the given goals.
| Identifer | oai:union.ndltd.org:purdue.edu/oai:figshare.com:article/7423250 |
| Date | 17 January 2019 |
| Creators | Yongho Kim (5929901) |
| Source Sets | Purdue University |
| Detected Language | English |
| Type | Text, Thesis |
| Rights | GPL 3.0+ |
| Relation | https://figshare.com/articles/GOAL_DELIBERATION_AND_PLANNING_IN_COOPERATIVE_MULTI-ROBOT_SYSTEMS/7423250 |
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