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Article Dans Une Revue Autonomous Robots Année : 2016

A distributed architecture for supervision of autonomous multi-robot missions

Une architecture distribuée pour la supervision de missions multi-robots autonomes

Résumé

Realizing long-term autonomous missions involving teams of heterogeneous robots is a challenge. It requires mechanisms to make robots react to disturbances or failures that will arise during the mission, while trying to successfully achieve the mission in cooperation. This paper presents HiDDeN, a distributed deliberative architecture that manages the execution of a hierarchical plan. This plan has initially been computed offline, ensuring some military operational constraints of themission. Each robot’s supervisor then executes its own part of the plan, and reacts to failures using a hierarchical repair approach. This hierarchical repair has been designed with the sake of ensuring operational constraints, while reducing the need of communication between robots, as communication may be intermittent or even nonexistent when the robots operate in completely separate environments. HiDDeN’s robustness and scalability is evaluated with simulations. Experiments with an autonomous helicopter and an autonomous underwater vehicle have been realized and are presented as the defining point of our contribution.
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Dates et versions

hal-01385451 , version 1 (25-10-2016)

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Citer

Charles Lesire Cabaniols, Guillaume Infantes, Thibault Gateau, Magali Barbier. A distributed architecture for supervision of autonomous multi-robot missions: Application to air-sea scenarios. Autonomous Robots, 2016, 40 (7), pp.1343-1362. ⟨10.1007/s10514-016-9603-z⟩. ⟨hal-01385451⟩

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