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Towards multi-robot applications planning under uncertainty

Conference paper
Authors Claudio Menghi
Sergio Garcia
Patrizio Pelliccione
Jana Tumova
Published in ICSE '18 Proceedings of the 40th International Conference on Software Engineering
ISSN 02705257
Publication year 2018
Published at Department of Computer Science and Engineering (GU)
Language en
Links https://dl.acm.org/citation.cfm?doi...
Subject categories Computer Vision and Robotics (Autonomous Systems), Information Systems

Abstract

© 2018 Authors. Novel robotic applications are no longer based on single robots. They rather require teams of robots that collaborate and interact to perform a desired mission. They must also be used in contexts in which only partial knowledge about the robots and their environment is present. To ensure mission achievement, robotic applications require the usage of planners that compute the set of actions the robots must perform. Current planning techniques are often based on centralized solutions and hence they do not scale when teams of robots are considered, they consider rather simple missions, and they do not work in partially known environments. To address these challenges, we present a planning solution that decomposes the team of robots into subclasses, considers complex high-level missions given in temporal logic, and at the same time works when only partial knowledge of the environment is available.

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