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Conference Papers Year : 2014

Multi-Robot Planning and Execution for an Exploration Mission: a Case Study

G. Infantes
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C. Lesire
C. Pralet
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Abstract

This paper presents the first steps of the treatment of a real-world robotic scenario consisting in exploring a large area using several heterogeneous autonomous robots. Addressing this scenario requires combining several components at the planning and execution lev-els. First, the scenario needs to be well modeled in or-der for a planning algorithm to come up with a realistic solution. This implies modeling temporal and spatial synchronization of activities between robots, as well as computing the duration of move activities using a pre-cise terrain model. Then, in order to obtain a robust multi-agent executive layer, we need a robust hierarchi-cal plan scheme that helps identifying appropriate plan repairs when, despite the quality of the various models, failures or delays occur. Finally, we need various algo-rithmic tools in order to obtain flexible plans of good quality.

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Dates and versions

hal-01079780 , version 1 (03-11-2014)

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  • HAL Id : hal-01079780 , version 1

Cite

G. Infantes, C. Lesire, C. Pralet. Multi-Robot Planning and Execution for an Exploration Mission: a Case Study. ICAPS 2014 PlanRob Workshop (Planning and Robotics), Jun 2014, PORTSMOUTH, United States. ⟨hal-01079780⟩

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