OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

Deliberative control components for eldercare robot team cooperation

Gascueña, José Manuel and Garijo, Francisco and Fernández-Caballero, Antonio and Gleizes, Marie-Pierre and Machonin, André Deliberative control components for eldercare robot team cooperation. (2015) Journal of Intelligent and Fuzzy Systems, 28 (1). 17-28. ISSN 1064-1246

(Document in English)

PDF (Author's version) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader

Official URL: http://dx.doi.org/10.3233/IFS-141199


One important research area in autonomous mobile robotics is to create companions that live in our ambience and perform tasks to help in everyday life. On the other hand, Ambient Intelligence (AmI) seeks to create a network of helpful intelligent devices. This paper describes an approach for the development of cooperation models for eldercare robot teams using goal-driven control components. The framework and the approach are illustrated through the development and assessment of task allocation in multi-robot teams. Two cooperation models are implemented: (i) a team model based on the adaptive multi-agent systems theory where task responsibility is agreed among team peers by exchanging individual estimations of the degree of difficulty and priority to achieve the task; (ii) a hierarchical model where a robot manager asks for the estimations of its team members and then assigns the task. Experimentation for team cooperation assessment is performed through considering environmental changes, as well as communications and internal failures. The proposal is simulated in an AmI-oriented elderly care center to assist seniors in need.

Item Type:Article
Additional Information:Thanks to ACM editor. The definitive version is available at http://dl.acm.org The original PDF of the article can be found at Journal of Intelligent and Fuzzy Systems(ISSN 1064-1246)website : http://dl.acm.org/citation.cfm?id=2710029
HAL Id:hal-03464347
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Other partners > Universidad de Castilla-La Mancha - UCLM (SPAIN)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
Laboratory name:
Deposited On:11 Oct 2016 13:36

Repository Staff Only: item control page