Ensemble Programming for Multipotent Systems

The orchestration and controlling of groups of robots, i.e., programming ensembles, is a complicated task to do. Deciding and defining what the ensemble needs to do in which order often requires in-depth problem domain specific knowledge. Further, an ensemble programmer needs to put much effort into...

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Bibliographic Details
Published in:2019 IEEE 4th International Workshops on Foundations and Applications of Self Systems (FASW) pp. 104 - 109
Main Authors: Kosak, Oliver, Bohn, Felix, Keller, Felix, Ponsar, Hella, Reif, Wolfgang
Format: Conference Proceeding
Language:English
Published: IEEE 01.06.2019
Subjects:
ensemble programming
hierarchical task networks
multi-robot systems
multipotent systems
self-organization
Online Access:Get full text
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Summary:The orchestration and controlling of groups of robots, i.e., programming ensembles, is a complicated task to do. Deciding and defining what the ensemble needs to do in which order often requires in-depth problem domain specific knowledge. Further, an ensemble programmer needs to put much effort into the design, implementation, and evaluation of distributed algorithms to coordinate multi-robot executions. Most commonly, expertise for the problem domain and programming knowledge is not united in the same person. To tackle this, we propose Maple, an approach for a Multi-Agent Programming Language for Ensembles. Using Maple simplifies an ensemble programmer's typical work-flow by providing generalized solutions for solving technical tasks in ensemble programming. Maple is a graphical ensemble programming language based on the formalism of hierarchical task networks that enables the online generation of ensemble programs. Maple also enables non-technical domain experts to generate ensemble programs for specific use-cases.
DOI:10.1109/FAS-W.2019.00037