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Contrôle du partage de l'autorité dans un système d'agents hétérogènes

Stéphane Mercier 1
1 UR Conduite et Décision
ONERA - The French Aerospace Lab [Toulouse]
Abstract : In the context of missions accomplished jointly by an artificial agent (robot, UAV) and a human agent, we focus on a controller of the authority dynamics based on a dependence graph of generic resources that can be controlled by both agents. The controller is designed to tune the behaviours of the artificial agent or of the human agent in case of an authority conflict occurring on these resources. The relative authority of two agents regarding the control of a resource is defined so as the authority conflict on a resource. Conflict detection triggers a revision of the artificial agent's plan that is based on the current state of the resources and authority relationships. The controller of the authority dynamics is implemented with MNMS (Multiple (Petri) Nets Management System). This tool allows generic resources, resource dependencies and authority relationships to be manipulated and can be integrated within a robotic software architecture.
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Submitted on : Monday, February 6, 2012 - 11:05:40 AM
Last modification on : Friday, October 23, 2020 - 4:38:51 PM
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Stéphane Mercier. Contrôle du partage de l'autorité dans un système d'agents hétérogènes. Robotique [cs.RO]. Ecole nationale superieure de l'aeronautique et de l'espace, 2011. Français. ⟨tel-00666618⟩

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