Simultaneous task allocation and planning under uncertainty

Fatma Faruq, Bruno Lacerda, Nick Hawes, David Parker

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)
221 Downloads (Pure)

Abstract

We propose novel techniques for task allocation and planning in multi-robot systems operating in uncertain environments. Task allocation is performed simultaneously with planning, which provides more detailed information about individual robot behaviour, but also exploits independence between tasks to do so efficiently. We use Markov decision processes to model robot behaviour and linear temporal logic to specify tasks and safety constraints. Building upon techniques and tools from formal verification, we show how to generate a sequence of multi-robot policies, iteratively refining them to reallocate tasks if individual robots fail, and providing probabilistic guarantees on the performance (and safe operation) of the team of robots under the resulting policy. We implement our approach and evaluate it on a benchmark multi-robot example.
Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE Computer Society Press
Pages3559-3564
Number of pages6
ISBN (Electronic)978-1-5386-8094-0, 978-1-5386-8093-3
ISBN (Print)978-1-5386-8095-7
DOIs
Publication statusPublished - 7 Jan 2019
EventIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'18) - Madrid, Spain
Duration: 1 Oct 20185 Oct 2018

Publication series

NameIEEE International Workshop on Intelligent Robots and Systems (IROS)
PublisherIEEE
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'18)
Country/TerritorySpain
CityMadrid
Period1/10/185/10/18

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