Título:	Engineering multi-robot mission coordination in the service robot domain
Autor(es):	Rodrigues, Gabriel Siqueira
Orientador(es):	Rodrigues, Genaína Nunes
Coorientador(es):	Pelliccione, Patrizio
Assunto:	Linguagem específica de domínio Garantia de qualidade Robôs de serviço Simulação robótica
Data de publicação:	25-Jun-2026
Data de defesa:	24-Mar-2025
Referência:	RODRIGUES, Gabriel Siqueira. Engineering multi-robot mission coordination in the service robot domain. 2025. 91 f., il. Tese (Doutorado em Informática) — Universidade de Brasília, Brasília, 2025.
Abstract:	Robots have transformed industries such as automotive manufacturing by taking over tedious, repetitive, and hazardous tasks within factory settings. Traditionally, these robots are large machines operating in highly controlled environments. However, in recent years, there has been a significant rise in the development of mobile robots designed to assist in human-shared spaces, including hospitals, hotels, and restaurants. Known as ser vice robots, these systems can navigate human-centric environments and perform tasks such as object manipulation and environmental inspection using cameras and sensors. To fully leverage the potential of service robots in social settings, effective coordination mechanisms must be established. However, orchestrating multiple robots in shared human spaces presents substantial engineering challenges due to the open-ended nature of these environments and the inherent uncertainties they introduce. Furthermore, while quality assurance is crucial for such systems, simulating their coordination logic is particularly complex due to its strong dependence on environmental factors. This thesis advances the state-of-the-art in engineering autonomous multi-robot systems in the service robot domain, particularly in architecture and simulation. It proposes novel architectural solu tions to manage the complexity and uncertainty inherent in dynamic environments. To this end, this research introduces a new architecture, MissionControl, designed to stream line the development and coordination of multi-robot missions. MissionControl mitigates system complexity by defining a component model that structures the system into encap sulated reusable components with clear responsibilities. In addition, it integrates both the component and runtime models with coordination processes, prioritizing modifiability, integrability, and autonomy. A prototype implementation of MissionControl was devel oped for inter-robot communication and Robot Operating System for task execution. The architecture was evaluated through controlled experiments in the MORSE simulator and systematic inspections based on software architecture analysis guidelines. Experimental results indicate an improvement in mission success rates and a reduction in failures due to resource depletion, even under uncertain conditions. Lastly, this thesis contributes to a lightweight simulation design called HMR Sim, which is tailored to evaluate coordination logic. The proposed simulation framework is resource efficient and supports the execution of tests using a domain-specific language, enabling systematic validation of multi-robot systems behaviors.
Unidade Acadêmica:	Instituto de Ciências Exatas (IE) Departamento de Ciência da Computação (IE CIC)
Informações adicionais:	Tese (Doutorado) — Universidade de Brasília, Instituto de Ciências Exatas, Departamento de Ciência da Computação, Programa de Pós-Graduação em Informática, 2025.
Programa de pós-graduação:	Programa de Pós-Graduação em Informática
Licença:	A concessão da licença deste item refere-se ao termo de autorização impresso assinado pelo autor com as seguintes condições: Na qualidade de titular dos direitos de autor da publicação, autorizo a Universidade de Brasília e o IBICT a disponibilizar por meio dos sites www.unb.br, www.ibict.br, www.ndltd.org sem ressarcimento dos direitos autorais, de acordo com a Lei nº 9610/98, o texto integral da obra supracitada, conforme permissões assinaladas, para fins de leitura, impressão e/ou download, a título de divulgação da produção científica brasileira, a partir desta data.
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