Integrated real-time task and motion planning for multiple robots under path and communication uncertainties

Bradley Woosley, Prithviraj Dasgupta

Research output: Contribution to journalArticlepeer-review

4 Scopus citations

Abstract

We consider a problem where robots are given a set of task locations to visit with coarsely known distances. The robots must find the task ordering that reduces the overall distance to visit the tasks. We propose an abstraction that models the uncertainty in the paths, and a Markov Decision Process-based algorithm that selects paths that reduces the expected distance to visit the tasks. We also describe a distributed coordination algorithm to resolve path conflicts. We have shown that our task selection is optimal, our coordination is deadlock-free, and have experimentally verified our approach in hardware and simulation.

Original languageEnglish (US)
Pages (from-to)353-373
Number of pages21
JournalRobotica
Volume36
Issue number3
DOIs
StatePublished - Mar 1 2018

Keywords

  • Exploration
  • Multi-robot
  • Path uncertainty
  • Real time
  • Simultaneous task and motion planning

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

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