Bauer, Adrian Simon und Köpken, Anne und Leidner, Daniel (2022) Multi-Agent Heterogeneous Digital Twin Framework with Dynamic Responsibility Allocation for Complex Task Simulation. In: 21st International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2022, Seiten 53-61. IFAAMAS. 21st International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2022), 2022-05-09 - 2022-05-13, Online. doi: 10.5555/3535850.3535858. ISBN 978-171385433-3. ISSN 1548-8403.
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Offizielle URL: https://dl.acm.org/doi/abs/10.5555/3535850.3535858
Kurzfassung
To become helpful assistants in our daily lives, robots must be able to understand the effects of their actions on their environment. A modern approach to this is the use of a physics simulation, where often very general simulation engines are utilized. As a result, specific modeling features, such as multi-contact simulation or fluid dynamics, may not be well represented. To improve the representativeness of simulations, we propose a framework for combining estimations of multiple heterogeneous simulations into a single one. The framework couples multiple simulations and reorganizes them based on semantically annotated action sequence information. While each object in the scene is always covered by a simulation, this simulation responsibility can be reassigned on-line. In this paper, we introduce the concept of the framework, describe the architecture, and demonstrate two example implementations. Eventually, we demonstrate how the framework can be used to simulate action executions on the humanoid robot Rollin' Justin with the goal to extract the semantic state and how this information is used to assess whether an action sequence is executed successful or not.
elib-URL des Eintrags: | https://elib.dlr.de/185426/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Multi-Agent Heterogeneous Digital Twin Framework with Dynamic Responsibility Allocation for Complex Task Simulation | ||||||||||||||||||||
Autoren: |
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Datum: | Mai 2022 | ||||||||||||||||||||
Erschienen in: | 21st International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2022 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.5555/3535850.3535858 | ||||||||||||||||||||
Seitenbereich: | Seiten 53-61 | ||||||||||||||||||||
Herausgeber: |
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Verlag: | IFAAMAS | ||||||||||||||||||||
ISSN: | 1548-8403 | ||||||||||||||||||||
ISBN: | 978-171385433-3 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Robotics, Simulation, Knowledge Representation, Digital Twin, Environment Models | ||||||||||||||||||||
Veranstaltungstitel: | 21st International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2022) | ||||||||||||||||||||
Veranstaltungsort: | Online | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 9 Mai 2022 | ||||||||||||||||||||
Veranstaltungsende: | 13 Mai 2022 | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Interagierende Robotersteuerung [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Bauer, Adrian Simon | ||||||||||||||||||||
Hinterlegt am: | 14 Mär 2022 11:03 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:46 |
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