Resolution of Conflict in Robotic Systems based on local and global Sensor Network

Witold Jacak, Karin Pröll

Research output: Chapter in Book/Report/Conference proceedingsConference contribution


In this paper we present the concept of a framework for an autonomous robotic agent that is capable of showing both neural network-based and sensor-based reactive behavior. The application of Intelligent Multi Agent Technology and Interactive Environment in a Complex Robotic System provides a solution of the task reachability problem in case of a space conflicts among active agents and known and unknown dynamic objects in the world model. Based on conflict resolution and updating of the world model on line mo-tion planning leads to resolution of task achievement. Usually an agent has only partial information about the world state obtained from own local perception system (sensors system). This information is usefull to solve only the local conflicts in the sense of reactive behaviour. To solve the possible conflict in artifi-cial intelligence maner is necessary to extend the information source .One way of the such extension is using additionally ther information from distributed sensors network. In our concept, the structure of a robotic agent consists of two independent subsystems: the action planning system and the action execution system with integrated conflict reso-lution method. • The action planning system uses the aggregated knowledge about all prepared ac-tions and conflicts which occurred in the past and knowledge about environment changes coming from global sensors network. • The action execution system is able to solve the local conflict situation (local space conflict by autonomous robotic agent) in a reactive manner. The so called conflict resolution part of agent makes use of knowledge not only from sensors mounted on active agent (local sensor network) but also from distributed global sensor network.
Original languageEnglish
Title of host publicationProceedings of International Conference Computer Aided Systems Theory EUROCAST 2009
Publication statusPublished - 2009
EventTwelve International Conference on Computer Aided Systems Theory 2009 - Las Palmas, Spain
Duration: 15 Feb 200920 Feb 2009


ConferenceTwelve International Conference on Computer Aided Systems Theory 2009
CityLas Palmas
Internet address


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