@inproceedings{87d92203b8c6425ebd3c00a3dce9016b,
title = "Simultaneous task allocation and planning under uncertainty",
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. ",
author = "Fatma Faruq and Bruno Lacerda and Nick Hawes and David Parker",
year = "2019",
month = jan,
day = "7",
doi = "10.1109/IROS.2018.8594404",
language = "English",
isbn = "978-1-5386-8095-7",
series = "IEEE International Workshop on Intelligent Robots and Systems (IROS) ",
publisher = "IEEE Computer Society Press",
pages = "3559--3564",
booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
note = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'18) ; Conference date: 01-10-2018 Through 05-10-2018",
}