Goal Lifecycle Networks For Robotics

A Goal Lifecycle Network (GLN) is a conceptual process model that captures the progression of goals from their formulation to their completion, including planning and execution concerns. GLNs synthesize the literature on hierarchical goal networks, goal lifecycles, and plan execution. We formalize GLNs based on a state-variable representation, extend GLNs with an execution lifecycle, describe a partial reference implementation of GLNs, and show how the temporal PDDL language can be translated into GLNs for dispatchable execution. We integrate GLNs in three proof-of-concept robotics demonstrations: (1) a two-armed robot sorting items into baskets; (2) a multi-vehicle quad-rotor team surveying a region; and (3) centralized planning for a simulated disaster relief based on the Robocup Rescue League. The theory, implementation, and demonstrations highlight that GLNs are effective for goal management in the robotics systems we study.

Agent-Development Framework Based on Modular Structure to Research Disaster-Relief Activities

This article describes approaches to the RoboCup Rescue Simulation league which is a part of the response to recent large-scale natural disasters. In particular, the project provides a platform for studying disaster-relief agents and simulations. The aim of the project is to contribute to society is by making widely available the findings our research into disaster relief. Some disaster-relief agents contain excellent algorithm modules, which should ideally be shareable among developers. However, this is hindered when the program structure of the agents are different among different teams. Therefore, this article designs and implements a modular agent-development framework that unifies the structure within RoboCup Rescue Simulation agents to facilitate such technical exchange.

Rese_Q: UGV for Rescue Tasks Functional Design

The aim of this paper is to show the functional design of the prototype called Rese_Q01. The characteristics required for this prototype are defined by the competition “RoboCup Rescue”. The competition evaluates robot’s capabilities in four suites: Maneuverability, Mobility, Dexterity and Exploration. In add, the final step of the challenge is the readiness check of system sensors in order to locate victims and dangerous situations. A snake-like architecture, using a modular approach, inspires the prototype Rese_Q01. The robot is composed by a variable number of modules interconnect by multi degree of freedom joints. The modular approach allows configuring the robot in the best way for specific tasks. A specific module can be equipped with different sensors and with a hand effector for specific tasks. Moreover, the modular approach is also employed for the joints. The paper presents the design requirements resulting from the use in post-disaster monitoring operations, the mechanical synthesis procedure and the functional design of the mobile robot. Furthermore, the traction system and the trajectory control are shown.

Agent-Development Framework Based on Modular Structure to Research Disaster-Relief Activities

This article describes approaches to the RoboCup Rescue Simulation league which is a part of the response to recent large-scale natural disasters. In particular, the project provides a platform for studying disaster-relief agents and simulations. The aim of the project is to contribute to society is by making widely available the findings our research into disaster relief. Some disaster-relief agents contain excellent algorithm modules, which should ideally be shareable among developers. However, this is hindered when the program structure of the agents are different among different teams. Therefore, this article designs and implements a modular agent-development framework that unifies the structure within RoboCup Rescue Simulation agents to facilitate such technical exchange.