Authority Sharing in a Swarm of UAVs: Simulation and Experiments with Operators
Identifieur interne : 001D77 ( Istex/Corpus ); précédent : 001D76; suivant : 001D78Authority Sharing in a Swarm of UAVs: Simulation and Experiments with Operators
Auteurs : François Legras ; Arnaud Glad ; Olivier Simonin ; François CharpilletSource :
- Lecture Notes in Computer Science [ 0302-9743 ]
Abstract
Abstract: It is emphasized in numerous prospective studies that the development of swarms of Unmanned Aerial Vehicules (UAV) should be important in the next years. However, the design of these new multi-agent systems involves to take up many challenges. In particular, reducing the number of operators requires to define new interfaces in order to interact with such autonomous multirobot systems. We present an approach that allows one operator to control a swarm of UAVs in the context of simulated patrolling and pursuit tasks. Self-organized control relying on digital pheromones, as well as authority sharing based on several operating modes are defined. Experiments with human operators on the simulated system show that the combination of the two approaches is effective.
Url:
DOI: 10.1007/978-3-540-89076-8_29
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ISTEX:8026085E8035342B310A9D93CCEB49F7E1543F10Le document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Authority Sharing in a Swarm of UAVs: Simulation and Experiments with Operators</title><author><name sortKey="Legras, Francois" sort="Legras, Francois" uniqKey="Legras F" first="François" last="Legras">François Legras</name><affiliation><mods:affiliation>Institut TELECOM / TELECOM Bretagne, Département LUSSI, France, LabSTICC, UMR 3192, CNRS, France</mods:affiliation></affiliation></author><author><name sortKey="Glad, Arnaud" sort="Glad, Arnaud" uniqKey="Glad A" first="Arnaud" last="Glad">Arnaud Glad</name><affiliation><mods:affiliation>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</mods:affiliation></affiliation></author><author><name sortKey="Simonin, Olivier" sort="Simonin, Olivier" uniqKey="Simonin O" first="Olivier" last="Simonin">Olivier Simonin</name><affiliation><mods:affiliation>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</mods:affiliation></affiliation></author><author><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><affiliation><mods:affiliation>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</mods:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:8026085E8035342B310A9D93CCEB49F7E1543F10</idno><date when="2008" year="2008">2008</date><idno type="doi">10.1007/978-3-540-89076-8_29</idno><idno type="url">https://api.istex.fr/ark:/67375/HCB-Q4WDXGRC-M/fulltext.pdf</idno><idno type="wicri:Area/Istex/Corpus">001D77</idno><idno type="wicri:explorRef" wicri:stream="Istex" wicri:step="Corpus" wicri:corpus="ISTEX">001D77</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Authority Sharing in a Swarm of UAVs: Simulation and Experiments with Operators</title><author><name sortKey="Legras, Francois" sort="Legras, Francois" uniqKey="Legras F" first="François" last="Legras">François Legras</name><affiliation><mods:affiliation>Institut TELECOM / TELECOM Bretagne, Département LUSSI, France, LabSTICC, UMR 3192, CNRS, France</mods:affiliation></affiliation></author><author><name sortKey="Glad, Arnaud" sort="Glad, Arnaud" uniqKey="Glad A" first="Arnaud" last="Glad">Arnaud Glad</name><affiliation><mods:affiliation>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</mods:affiliation></affiliation></author><author><name sortKey="Simonin, Olivier" sort="Simonin, Olivier" uniqKey="Simonin O" first="Olivier" last="Simonin">Olivier Simonin</name><affiliation><mods:affiliation>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</mods:affiliation></affiliation></author><author><name sortKey="Charpillet, Francois" sort="Charpillet, Francois" uniqKey="Charpillet F" first="François" last="Charpillet">François Charpillet</name><affiliation><mods:affiliation>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</mods:affiliation></affiliation></author></analytic><monogr></monogr><series><title level="s" type="main" xml:lang="en">Lecture Notes in Computer Science</title><idno type="ISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="ISSN">0302-9743</idno></series></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0302-9743</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Abstract: It is emphasized in numerous prospective studies that the development of swarms of Unmanned Aerial Vehicules (UAV) should be important in the next years. However, the design of these new multi-agent systems involves to take up many challenges. In particular, reducing the number of operators requires to define new interfaces in order to interact with such autonomous multirobot systems. We present an approach that allows one operator to control a swarm of UAVs in the context of simulated patrolling and pursuit tasks. Self-organized control relying on digital pheromones, as well as authority sharing based on several operating modes are defined. Experiments with human operators on the simulated system show that the combination of the two approaches is effective.</div></front></TEI><istex><corpusName>springer-ebooks</corpusName><author><json:item><name>François Legras</name><affiliations><json:string>Institut TELECOM / TELECOM Bretagne, Département LUSSI, France, LabSTICC, UMR 3192, CNRS, France</json:string></affiliations></json:item><json:item><name>Arnaud Glad</name><affiliations><json:string>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</json:string></affiliations></json:item><json:item><name>Olivier Simonin</name><affiliations><json:string>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</json:string></affiliations></json:item><json:item><name>François Charpillet</name><affiliations><json:string>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</json:string></affiliations></json:item></author><arkIstex>ark:/67375/HCB-Q4WDXGRC-M</arkIstex><language><json:string>eng</json:string></language><originalGenre><json:string>OriginalPaper</json:string></originalGenre><abstract>Abstract: It is emphasized in numerous prospective studies that the development of swarms of Unmanned Aerial Vehicules (UAV) should be important in the next years. However, the design of these new multi-agent systems involves to take up many challenges. In particular, reducing the number of operators requires to define new interfaces in order to interact with such autonomous multirobot systems. We present an approach that allows one operator to control a swarm of UAVs in the context of simulated patrolling and pursuit tasks. Self-organized control relying on digital pheromones, as well as authority sharing based on several operating modes are defined. Experiments with human operators on the simulated system show that the combination of the two approaches is effective.</abstract><qualityIndicators><score>7.848</score><pdfWordCount>4420</pdfWordCount><pdfCharCount>25523</pdfCharCount><pdfVersion>1.6</pdfVersion><pdfPageCount>12</pdfPageCount><pdfPageSize>430 x 660 pts</pdfPageSize><refBibsNative>false</refBibsNative><abstractWordCount>119</abstractWordCount><abstractCharCount>778</abstractCharCount><keywordCount>0</keywordCount></qualityIndicators><title>Authority Sharing in a Swarm of UAVs: Simulation and Experiments with Operators</title><chapterId><json:string>29</json:string><json:string>Chap29</json:string></chapterId><genre><json:string>conference</json:string></genre><serie><title>Lecture Notes in Computer Science</title><language><json:string>unknown</json:string></language><copyrightDate>2008</copyrightDate><issn><json:string>0302-9743</json:string></issn><eissn><json:string>1611-3349</json:string></eissn></serie><host><title>Simulation, Modeling, and Programming for Autonomous Robots</title><language><json:string>unknown</json:string></language><copyrightDate>2008</copyrightDate><doi><json:string>10.1007/978-3-540-89076-8</json:string></doi><issn><json:string>0302-9743</json:string></issn><eissn><json:string>1611-3349</json:string></eissn><eisbn><json:string>978-3-540-89076-8</json:string></eisbn><bookId><json:string>978-3-540-89076-8</json:string></bookId><isbn><json:string>978-3-540-89075-1</json:string></isbn><volume>5325</volume><pages><first>293</first><last>304</last></pages><genre><json:string>book-series</json:string></genre><editor><json:item><name>Stefano Carpin</name><affiliations><json:string>School of Engineering, University of California, Merced,, 5200 North Lake Rd, CA 95343, Merced, USA</json:string><json:string>E-mail: scarpin@ucmerced.edu</json:string></affiliations></json:item><json:item><name>Itsuki Noda</name><affiliations><json:string>Information Technology Research Institute National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki, Japan</json:string><json:string>E-mail: i.noda@aist.go.jp</json:string></affiliations></json:item><json:item><name>Enrico Pagello</name><affiliations><json:string>Department of Information Engineering (DEI), University of Padua, Via G. Gradenigo, 6/a, 35131, Padova, Italy</json:string><json:string>E-mail: epv@dei.unipd.it</json:string></affiliations></json:item><json:item><name>Monica Reggiani</name><affiliations><json:string>Department of Management and Engineering (DTG), University of Padua Stradella San Nicola, 3 I-36100, Vicenza, Italy</json:string><json:string>E-mail: monica.reggiani@unipd.it</json:string></affiliations></json:item><json:item><name>Oskar von Stryk</name><affiliations><json:string>Simulation, Systems Optimization and Robotics Group, Technische Universität Darmstadt, Hochschulstraße 10, 64289, Darmstadt, Germany</json:string><json:string>E-mail: stryk@sim.tu-darmstadt.de</json:string></affiliations></json:item></editor><subject><json:item><value>Computer Science</value></json:item><json:item><value>Computer Science</value></json:item><json:item><value>Artificial Intelligence (incl. 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However, the design of these new multi-agent systems involves to take up many challenges. In particular, reducing the number of operators requires to define new interfaces in order to interact with such autonomous multirobot systems. We present an approach that allows one operator to control a swarm of UAVs in the context of simulated patrolling and pursuit tasks. Self-organized control relying on digital pheromones, as well as authority sharing based on several operating modes are defined. Experiments with human operators on the simulated system show that the combination of the two approaches is effective.</p></abstract><textClass ana="subject"><keywords scheme="book-subject-collection"><list><label>SUCO11645</label><item><term>Computer Science</term></item></list></keywords></textClass><textClass ana="subject"><keywords scheme="book-subject"><list><label>I</label><item><term type="Primary">Computer Science</term></item><label>I21017</label><item><term type="Secondary" subtype="priority-1">Artificial Intelligence (incl. 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Proceedings</BookSubTitle><BookVolumeNumber>5325</BookVolumeNumber><BookSequenceNumber>5325</BookSequenceNumber><BookDOI>10.1007/978-3-540-89076-8</BookDOI><BookTitleID>184168</BookTitleID><BookPrintISBN>978-3-540-89075-1</BookPrintISBN><BookElectronicISBN>978-3-540-89076-8</BookElectronicISBN><BookChapterCount>33</BookChapterCount><BookCopyright><CopyrightHolderName>Springer Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2008</CopyrightYear></BookCopyright><BookSubjectGroup><BookSubject Code="I" Type="Primary">Computer Science</BookSubject><BookSubject Code="I21017" Priority="1" Type="Secondary">Artificial Intelligence (incl. Robotics)</BookSubject><BookSubject Code="I21025" Priority="2" Type="Secondary">Simulation and Modeling</BookSubject><BookSubject Code="I18067" Priority="3" Type="Secondary">User Interfaces and Human Computer Interaction</BookSubject><BookSubject Code="I16013" Priority="4" Type="Secondary">Computation by Abstract Devices</BookSubject><BookSubject Code="I13022" Priority="5" Type="Secondary">Computer Communication Networks</BookSubject><SubjectCollection Code="SUCO11645">Computer Science</SubjectCollection></BookSubjectGroup></BookInfo><BookHeader><EditorGroup><Editor AffiliationIDS="Aff1"><EditorName DisplayOrder="Western"><GivenName>Stefano</GivenName><FamilyName>Carpin</FamilyName></EditorName><Contact><Email>scarpin@ucmerced.edu</Email></Contact></Editor><Editor AffiliationIDS="Aff2"><EditorName DisplayOrder="Western"><GivenName>Itsuki</GivenName><FamilyName>Noda</FamilyName></EditorName><Contact><Email>i.noda@aist.go.jp</Email></Contact></Editor><Editor AffiliationIDS="Aff3"><EditorName DisplayOrder="Western"><GivenName>Enrico</GivenName><FamilyName>Pagello</FamilyName></EditorName><Contact><Email>epv@dei.unipd.it</Email></Contact></Editor><Editor AffiliationIDS="Aff4"><EditorName DisplayOrder="Western"><GivenName>Monica</GivenName><FamilyName>Reggiani</FamilyName></EditorName><Contact><Email>monica.reggiani@unipd.it</Email></Contact></Editor><Editor AffiliationIDS="Aff5"><EditorName DisplayOrder="Western"><GivenName>Oskar</GivenName><Particle>von</Particle><FamilyName>Stryk</FamilyName></EditorName><Contact><Email>stryk@sim.tu-darmstadt.de</Email></Contact></Editor><Affiliation ID="Aff1"><OrgDivision>School of Engineering</OrgDivision><OrgName>University of California, Merced,</OrgName><OrgAddress><Street>5200 North Lake Rd</Street><Postcode>CA 95343</Postcode><City>Merced</City><Country>USA</Country></OrgAddress></Affiliation><Affiliation ID="Aff2"><OrgName>Information Technology Research Institute National Institute of Advanced Industrial Science and Technology</OrgName><OrgAddress><Street>1-1-1 Umezono, Tsukuba</Street><City>Ibaraki</City><Country>Japan</Country></OrgAddress></Affiliation><Affiliation ID="Aff3"><OrgDivision>Department of Information Engineering (DEI)</OrgDivision><OrgName>University of Padua</OrgName><OrgAddress><Street>Via G. Gradenigo, 6/a</Street><Postcode>35131</Postcode><City>Padova</City><Country>Italy</Country></OrgAddress></Affiliation><Affiliation ID="Aff4"><OrgDivision>Department of Management and Engineering (DTG)</OrgDivision><OrgName>University of Padua Stradella San Nicola</OrgName><OrgAddress><Postcode>3 I-36100</Postcode><City>Vicenza</City><Country>Italy</Country></OrgAddress></Affiliation><Affiliation ID="Aff5"><OrgDivision>Simulation, Systems Optimization and Robotics Group</OrgDivision><OrgName>Technische Universität Darmstadt</OrgName><OrgAddress><Street>Hochschulstraße 10</Street><Postcode>64289</Postcode><City>Darmstadt</City><Country>Germany</Country></OrgAddress></Affiliation></EditorGroup></BookHeader><Part ID="Part4"><PartInfo TocLevels="0"><PartID>4</PartID><PartSequenceNumber>4</PartSequenceNumber><PartTitle>Applications</PartTitle><PartChapterCount>11</PartChapterCount><PartContext><SeriesID>558</SeriesID><BookTitle>Simulation, Modeling, and Programming for Autonomous Robots</BookTitle></PartContext></PartInfo><Chapter ID="Chap29" Language="En"><ChapterInfo ChapterType="OriginalPaper" ContainsESM="No" NumberingStyle="Unnumbered" TocLevels="0"><ChapterID>29</ChapterID><ChapterDOI>10.1007/978-3-540-89076-8_29</ChapterDOI><ChapterSequenceNumber>29</ChapterSequenceNumber><ChapterTitle Language="En">Authority Sharing in a Swarm of UAVs: Simulation and Experiments with Operators</ChapterTitle><ChapterFirstPage>293</ChapterFirstPage><ChapterLastPage>304</ChapterLastPage><ChapterCopyright><CopyrightHolderName>Springer-Verlag Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2008</CopyrightYear></ChapterCopyright><ChapterGrants Type="Regular"><MetadataGrant Grant="OpenAccess"></MetadataGrant><AbstractGrant Grant="OpenAccess"></AbstractGrant><BodyPDFGrant Grant="Restricted"></BodyPDFGrant><BodyHTMLGrant Grant="Restricted"></BodyHTMLGrant><BibliographyGrant Grant="Restricted"></BibliographyGrant><ESMGrant Grant="Restricted"></ESMGrant></ChapterGrants><ChapterContext><SeriesID>558</SeriesID><PartID>4</PartID><BookID>978-3-540-89076-8</BookID><BookTitle>Simulation, Modeling, and Programming for Autonomous Robots</BookTitle></ChapterContext></ChapterInfo><ChapterHeader><AuthorGroup><Author AffiliationIDS="Aff6"><AuthorName DisplayOrder="Western"><GivenName>François</GivenName><FamilyName>Legras</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff7"><AuthorName DisplayOrder="Western"><GivenName>Arnaud</GivenName><FamilyName>Glad</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff7"><AuthorName DisplayOrder="Western"><GivenName>Olivier</GivenName><FamilyName>Simonin</FamilyName></AuthorName></Author><Author AffiliationIDS="Aff7"><AuthorName DisplayOrder="Western"><GivenName>François</GivenName><FamilyName>Charpillet</FamilyName></AuthorName></Author><Affiliation ID="Aff6"><OrgDivision>Institut TELECOM / TELECOM Bretagne, Département LUSSI, France</OrgDivision><OrgName>LabSTICC, UMR 3192, CNRS</OrgName><OrgAddress><Country>France</Country></OrgAddress></Affiliation><Affiliation ID="Aff7"><OrgDivision>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503</OrgDivision><OrgName>Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA</OrgName><OrgAddress><Country>France</Country></OrgAddress></Affiliation></AuthorGroup><Abstract ID="Abs1" Language="En"><Heading>Abstract</Heading><Para>It is emphasized in numerous prospective studies that the development of swarms of Unmanned Aerial Vehicules (UAV) should be important in the next years. However, the design of these new multi-agent systems involves to take up many challenges. In particular, reducing the number of operators requires to define new interfaces in order to interact with such autonomous multirobot systems. We present an approach that allows one operator to control a swarm of UAVs in the context of simulated patrolling and pursuit tasks. Self-organized control relying on digital pheromones, as well as authority sharing based on several operating modes are defined. Experiments with human operators on the simulated system show that the combination of the two approaches is effective.</Para></Abstract></ChapterHeader><NoBody></NoBody></Chapter></Part></Book></Series></Publisher></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>Authority Sharing in a Swarm of UAVs: Simulation and Experiments with Operators</title></titleInfo><titleInfo type="alternative" contentType="CDATA"><title>Authority Sharing in a Swarm of UAVs: Simulation and Experiments with Operators</title></titleInfo><name type="personal"><namePart type="given">François</namePart><namePart type="family">Legras</namePart><affiliation>Institut TELECOM / TELECOM Bretagne, Département LUSSI, France, LabSTICC, UMR 3192, CNRS, France</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Arnaud</namePart><namePart type="family">Glad</namePart><affiliation>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Olivier</namePart><namePart type="family">Simonin</namePart><affiliation>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">François</namePart><namePart type="family">Charpillet</namePart><affiliation>LORIA Laboratoire Lorrain de Recherche en Informatique et ses Applications UMR 7503, Université Henri Poincaré, CNRS, INRIA, Nancy 2, INPL, France, INRIA Nancy Grand Est, Equipe-projet MAIA, France</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre displayLabel="OriginalPaper" authority="ISTEX" authorityURI="https://content-type.data.istex.fr" type="conference" valueURI="https://content-type.data.istex.fr/ark:/67375/XTP-BFHXPBJJ-3">conference</genre><originInfo><publisher>Springer Berlin Heidelberg</publisher><place><placeTerm type="text">Berlin, Heidelberg</placeTerm></place><dateIssued encoding="w3cdtf">2008</dateIssued><copyrightDate encoding="w3cdtf">2008</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><abstract lang="en">Abstract: It is emphasized in numerous prospective studies that the development of swarms of Unmanned Aerial Vehicules (UAV) should be important in the next years. However, the design of these new multi-agent systems involves to take up many challenges. In particular, reducing the number of operators requires to define new interfaces in order to interact with such autonomous multirobot systems. We present an approach that allows one operator to control a swarm of UAVs in the context of simulated patrolling and pursuit tasks. Self-organized control relying on digital pheromones, as well as authority sharing based on several operating modes are defined. Experiments with human operators on the simulated system show that the combination of the two approaches is effective.</abstract><relatedItem type="host"><titleInfo><title>Simulation, Modeling, and Programming for Autonomous Robots</title><subTitle>First International Conference, SIMPAR 2008 Venice, Italy, November 3-6, 2008. Proceedings</subTitle></titleInfo><name type="personal"><namePart type="given">Stefano</namePart><namePart type="family">Carpin</namePart><affiliation>School of Engineering, University of California, Merced,, 5200 North Lake Rd, CA 95343, Merced, USA</affiliation><affiliation>E-mail: scarpin@ucmerced.edu</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Itsuki</namePart><namePart type="family">Noda</namePart><affiliation>Information Technology Research Institute National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki, Japan</affiliation><affiliation>E-mail: i.noda@aist.go.jp</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Enrico</namePart><namePart type="family">Pagello</namePart><affiliation>Department of Information Engineering (DEI), University of Padua, Via G. Gradenigo, 6/a, 35131, Padova, Italy</affiliation><affiliation>E-mail: epv@dei.unipd.it</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Monica</namePart><namePart type="family">Reggiani</namePart><affiliation>Department of Management and Engineering (DTG), University of Padua Stradella San Nicola, 3 I-36100, Vicenza, Italy</affiliation><affiliation>E-mail: monica.reggiani@unipd.it</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Oskar</namePart><namePart type="family">von Stryk</namePart><affiliation>Simulation, Systems Optimization and Robotics Group, Technische Universität Darmstadt, Hochschulstraße 10, 64289, Darmstadt, Germany</affiliation><affiliation>E-mail: stryk@sim.tu-darmstadt.de</affiliation><role><roleTerm type="text">editor</roleTerm></role></name><genre type="book-series" authority="ISTEX" authorityURI="https://publication-type.data.istex.fr" valueURI="https://publication-type.data.istex.fr/ark:/67375/JMC-0G6R5W5T-Z">book-series</genre><originInfo><publisher>Springer</publisher><copyrightDate encoding="w3cdtf">2008</copyrightDate><issuance>monographic</issuance></originInfo><subject><genre>Book-Subject-Collection</genre><topic authority="SpringerSubjectCodes" authorityURI="SUCO11645">Computer Science</topic></subject><subject><genre>Book-Subject-Group</genre><topic authority="SpringerSubjectCodes" authorityURI="I">Computer Science</topic><topic authority="SpringerSubjectCodes" authorityURI="I21017">Artificial Intelligence (incl. 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