Decision Making for Teams of Mobile Robots

In the past years, we could observe a significant amount of new robotic systems in science, industry, and everyday life. To reduce the complexity of these systems, the industry constructs robots that are designated for the execution of a specific task such as vacuum cleaning, autonomous driving, observation, or transportation operations. As a result, such robotic systems need to combine their capabilities to accomplish complex tasks that exceed the abilities of individual robots. However, to achieve emergent cooperative behavior, multi-robot systems require a decision process that copes with the communication challenges of the application domain. This work investigates a distributed multi-robot decision process, which addresses unreliable and transient communication. This process composed by five steps, which we embedded into the ALICA multi-agent coordination language guided by the PROViDE negotiation middleware. The first step encompasses the specification of the decision problem, which is an integral part of the ALICA implementation. In our decision process, we describe multi-robot problems by continuous nonlinear constraint satisfaction problems. The second step addresses the calculation of solution proposals for this problem specification. Here, we propose an efficient solution algorithm that integrates incomplete local search and interval propagation techniques into a satisfiability solver, which forms a satisfiability modulo theories (SMT) solver. In the third decision step, the PROViDE middleware replicates the solution proposals among the robots. This replication process is parameterized with a distribution method, which determines the consistency properties of the proposals. In a fourth step, we investigate the conflict resolution. Therefore, an acceptance method ensures that each robot supports one of the replicated proposals. As we integrated the conflict resolution into the replication process, a sound selection of the distribution and acceptance methods leads to an eventual convergence of the robot proposals. In order to avoid the execution of conflicting proposals, the last step comprises a decision method, which selects a proposal for implementation in case the conflict resolution fails. The evaluation of our work shows that the usage of incomplete solution techniques of the constraint satisfaction solver outperforms the runtime of other state-of-the-art approaches for many typical robotic problems. We further show by experimental setups and practical application in the RoboCup environment that our decision process is suitable for making quick decisions in the presence of packet loss and delay. Moreover, PROViDE requires less memory and bandwidth compared to other state-of-the-art middleware approaches.

Zur denkmalpolitischen Praxis der Gegenwart - institutionelle Handlungsspielräume und diskursive Prozesse

Die Arbeit behandelt im Rahmen eines induktiven Ansatzes die Problematik aktueller kommunalpolitischer Zielkonflikte im Umgang mit Baudenkmalen in Deutschland. Dabei wird das Politikfeld Denkmalschutz in seiner kulturell-politischen Mehrdimensionalität unter der Ausgangsfrage untersucht, wie Entscheidungsprozesse verlaufen, bei denen entwicklungsbezogene Interessen und Belange des Denkmalschutzes eine besondere Rolle spielen. Vier Beispielfälle bilden den empirischen Kern der Untersuchung: Ein ortsbildprägendes und architektonisch qualitätsvolles Industriedenkmal wandelt sich mittels staatlicher Förderung zu einer Brachfläche; der Umgebungsschutz eines Gartendenkmals von Weltrang muss den Bedürfnissen des kommerzialisierten Fußballsports den Vortritt lassen; ein historisches Lichtspieltheater wird trotz Massenprotesten von Bürgern zu einem Buchladen umgebaut; eine freistehende Gründerzeitvilla wird unter der Maßgabe maximaler Verkaufsflächengröße durch ein Einkaufszentrum eingehaust. Aufbauend auf einer Analyse der jeweiligen Entscheidungsprozesse werden die Spezifika politischer Auseinandersetzungen um Denkmale fallübergreifend herausgearbeitet. Das Untersuchungsprinzip entspricht einem explorativen Verfahren, wobei der argumentative Austausch als empirischer Schlüssel zu sprachlich materialisierten Deutungsangeboten von Akteuren einen Schwerpunkt der Untersuchung bildet. In der Gegenüberstellung diskursiver Prozesse wird untersucht, wie Deutungsangebote im politischen Prozess entstehen, sich verändern und diskursiv vermittelt werden. Im Mittelpunkt steht der Einblick in das Zusammenspiel empirisch bestimmter Einflussgrößen. Dabei kristallisieren sich mehrere Thesen heraus, die das kulturelle Verständnis, die Rolle des institutionellen Kontextes und die politische Aushandlung als Prozess betreffen. Es wird aufgezeigt, weshalb die Kluft zwischen dem elitären Erhaltungsinteresse der Fachwelt und dem Denkmalverständnis des „Durchschnittsbürgers" als notwendige Triebfeder der denkmalpflegerischen Vermittlungsarbeit und für eine kreative Auseinandersetzung mit dem Denkmal ebenso wie der hoheitliche Denkmalschutz unverzichtbar bleibt.

Decision‐Making in Public Good Dilemmas: Theory and Agent‐Based Simulation

In many real world contexts individuals find themselves in situations where they have to decide between options of behaviour that serve a collective purpose or behaviours which satisfy one’s private interests, ignoring the collective. In some cases the underlying social dilemma (Dawes, 1980) is solved and we observe collective action (Olson, 1965). In others social mobilisation is unsuccessful. The central topic of social dilemma research is the identification and understanding of mechanisms which yield to the observed cooperation and therefore resolve the social dilemma. It is the purpose of this thesis to contribute this research field for the case of public good dilemmas. To do so, existing work that is relevant to this problem domain is reviewed and a set of mandatory requirements is derived which guide theory and method development of the thesis. In particular, the thesis focusses on dynamic processes of social mobilisation which can foster or inhibit collective action. The basic understanding is that success or failure of the required process of social mobilisation is determined by heterogeneous individual preferences of the members of a providing group, the social structure in which the acting individuals are contained, and the embedding of the individuals in economic, political, biophysical, or other external contexts. To account for these aspects and for the involved dynamics the methodical approach of the thesis is computer simulation, in particular agent-based modelling and simulation of social systems. Particularly conductive are agent models which ground the simulation of human behaviour in suitable psychological theories of action. The thesis develops the action theory HAPPenInGS (Heterogeneous Agents Providing Public Goods) and demonstrates its embedding into different agent-based simulations. The thesis substantiates the particular added value of the methodical approach: Starting out from a theory of individual behaviour, in simulations the emergence of collective patterns of behaviour becomes observable. In addition, the underlying collective dynamics may be scrutinised and assessed by scenario analysis. The results of such experiments reveal insights on processes of social mobilisation which go beyond classical empirical approaches and yield policy recommendations on promising intervention measures in particular.