Using an Auction Behavior-Based Robotic Architecture in Order to Fulfill Necessary Functionality for Service Robotics
type: CreativeWork
description: ABSTRACT Service robots have great potential for improving the quality of life and assisting with people's daily activities. Such robots must be capable of performing multiple tasks and schedule them appropriately while interacting with people over long periods of time. In this context, service robots will have to deal with tasks that require making intelligent decisions based on environmental data as well as dealing with different users. In order to achieve this, the robot must meet certain requirements. With a large number of tasks that the robot could be asked to perform it must be capable of dealing with multiple tasks whose goals may be in conflict with each other. This forces the robot to overcome the problem of dynamically determining the importance of each tasks in order to select one to pursue. In addition, since robots may need to handle multiple tasks there is the possibility that robots may be faced with multiple time constraints for different tasks forcing the robot to handle a wide diversity of time constraints when determining the relevance of each task. A human operator should also expect the capability of adding a new task while the robot is running without having a detrimental effect on its performance. A problem arises because many robotic systems design the tasks directly into the architecture itself, therefore, making an introduction of a new tasks difficult. This must all be achieved while safely interacting with different users. This interaction can interrupt a process and may affect tasks that have a critical time constraint. Therefore, it is necessary that the robotic architecture be capable of asking the user to wait.In order to achieve these requirements and overcome these problems this dissertation presents the Auction Behavior Based Robotic Architecture (ABBRA). This architecture uses an auction mechanism in a novel approach to determine the relevance of a task to run at that particular moment. ABBRA also allows the robot to handle multi…
abstract: ABSTRACT Service robots have great potential for improving the quality of life and assisting with people's daily activities. Such robots must be capable of performing multiple tasks and schedule them appropriately while interacting with people over long periods of time. In this context, service robots will have to deal with tasks that require making intelligent decisions based on environmental data as well as dealing with different users. In order to achieve this, the robot must meet certain requirements. With a large number of tasks that the robot could be asked to perform it must be capable of dealing with multiple tasks whose goals may be in conflict with each other. This forces the robot to overcome the problem of dynamically determining the importance of each tasks in order to select one to pursue. In addition, since robots may need to handle multiple tasks there is the possibility that robots may be faced with multiple time constraints for different tasks forcing the robot to handle a wide diversity of time constraints when determining the relevance of each task. A human operator should also expect the capability of adding a new task while the robot is running without having a detrimental effect on its performance. A problem arises because many robotic systems design the tasks directly into the architecture itself, therefore, making an introduction of a new tasks difficult. This must all be achieved while safely interacting with different users. This interaction can interrupt a process and may affect tasks that have a critical time constraint. Therefore, it is necessary that the robotic architecture be capable of asking the user to wait.In order to achieve these requirements and overcome these problems this dissertation presents the Auction Behavior Based Robotic Architecture (ABBRA). This architecture uses an auction mechanism in a novel approach to determine the relevance of a task to run at that particular moment. ABBRA also allows the robot to handle multi…
author: Towle Jr., Bradford Allen
keywords: Auction-Based Roboitcs, Behavior-Based Robotics, Human-Robot Interaction, Robotic Architecture
date published: 2013
date modified: 2026-07-27T21:46:30Z
provider: University of Nevada - Reno
publisher: Networked Digital Library of Theses and Dissertations
type: WebPage
source organization: University of Nevada - Reno

PropertyValue
property ID: Handle
value: http://hdl.handle.net/11714/3108