Hybrid reasoning for multi-robot drill planning in open-pit mines

Masoumeh Mansouri, Henrik Andreasson, Federico Pecora

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)
119 Downloads (Pure)


Fleet automation often involves solving several strongly correlated sub-problems, including task allocation, motion planning, and coordination. Solutions need to account for very specific, domaindependent constraints. In addition, several aspects of the overall fleet management problem become known only online. We propose a method for solving the fleet-management problem grounded on a heuristically-guided search in the space of mutually feasible solutions to sub-problems. We focus on a mining application which requires online contingency handling and accommodating many domainspecific constraints. As contingencies occur, efficient reasoning is performed to adjust the plan online for the entire fleet.
Original languageEnglish
Pages (from-to)47-56
Number of pages10
JournalActa Polytechnica
Issue number1
Publication statusPublished - 1 Feb 2016


  • robot planning
  • multi-robot coordination
  • on-line reasoning


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