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Multi-Agent Heterogeneous Digital Twin Framework with Dynamic Responsibility Allocation for Complex Task Simulation

Bauer, Adrian Simon and Köpken, Anne and 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, pp. 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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Official URL: https://dl.acm.org/doi/abs/10.5555/3535850.3535858

Abstract

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.

Item URL in elib:https://elib.dlr.de/185426/
Document Type:Conference or Workshop Item (Speech)
Title:Multi-Agent Heterogeneous Digital Twin Framework with Dynamic Responsibility Allocation for Complex Task Simulation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Bauer, Adrian SimonUNSPECIFIEDhttps://orcid.org/0000-0002-1171-4709UNSPECIFIED
Köpken, AnneUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Leidner, DanielUNSPECIFIEDhttps://orcid.org/0000-0001-5091-7122UNSPECIFIED
Date:May 2022
Journal or Publication Title:21st International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.5555/3535850.3535858
Page Range:pp. 53-61
Editors:
EditorsEmailEditor's ORCID iDORCID Put Code
Faliszewski, PiotrUNSPECIFIEDhttps://orcid.org/0000-0002-0332-4364UNSPECIFIED
Mascardi, VivianaUNSPECIFIEDhttps://orcid.org/0000-0002-2261-9926UNSPECIFIED
Pelachaud, CatherineUNSPECIFIEDhttps://orcid.org/0000-0002-7257-0761UNSPECIFIED
Taylor, Matthew E.UNSPECIFIEDhttps://orcid.org/0000-0002-2492-975XUNSPECIFIED
Publisher:IFAAMAS
ISSN:1548-8403
ISBN:978-171385433-3
Status:Published
Keywords:Robotics, Simulation, Knowledge Representation, Digital Twin, Environment Models
Event Title:21st International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2022)
Event Location:Online
Event Type:international Conference
Event Start Date:9 May 2022
Event End Date:13 May 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Interacting Robot Control [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Bauer, Adrian Simon
Deposited On:14 Mar 2022 11:03
Last Modified:24 Apr 2024 20:46

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