A Hierarchical Hybrid Architecture for Mission-Oriented Robot Control

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-03413-3_26In this work is presented a general architecture for a multi physical agent network system based on the coordination and the behaviour management. The system is organised in a hierarchical structure where are distinguished the individual agent actions and the collective ones linked to the whole agent network. Individual actions are also organised in a hybrid layered system that take advantages from reactive and deliberative control. Sensing system is involved as well in the behaviour architecture improving the information acquisition performance.This work has been partially supported by the Spanish Ministry of Economy and Competitiveness under the CICYT project Mission Based Control (COBAMI): DPI2011-28507-C02-02, under coordinated project High Integrity Partitioned Embedded Systems (Hi-PartES): TIN2011-28567-C03-03, and under the collaborative research project supported by the European Union MultiPARTES Project: FP7-ICT 287702. 2011-14.Muñoz Alcobendas, M.; Munera Sánchez, E.; Blanes Noguera, F.; Simó Ten, JE. (2013). A Hierarchical Hybrid Architecture for Mission-Oriented Robot Control. En ROBOT2013: First Iberian Robotics Conference: Advances in Robotics, Vol. 1. Springer. 363-380. https://doi.org/10.1007/978-3-319-03413-3_26S363380Aragues, R.: Consistent data association in multi-robot systems with limited communications. 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Systematic composition of services from distributed systems for highly dynamic collaboration processes

Establishing collaboration processes of systems in an open and dynamically changing environment like the automotive domain will inescapably lead to a varying availability of shared services. A vivid example is driving in a platoon, where smaller distances between vehicles are made possible due to additional safety related runtime guarantees provided by surrounding vehicles. In such collaboration scenarios environmental conditions can change, driving behavior from surrounding vehicles may not be adequate or hardware/software failure of involved systems may occur. For safety critical use cases like platooning, such degraded or even missing collaboration capabilities can rapidly lead to hazardous situations due to the highly dynamic context. When such events occur, only an immediate and situation adapted reaction behavior can prevent physical or material damage. For the certification of such described dynamic collaboration processes, it is therefore essential to develop a conclusive safety concept for each individual system, which also considers the return to a safe mode. The presented "Dynamic Safety Contracts" approach enables a systematic composition of available services at runtime to extend or reduce allowed degrees of freedom for a system involved in a dynamic collaboration scenario