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

Published online by Cambridge University Press:  16 November 2017

Bradley Woosley Open the ORCID record for Bradley Woosley [Opens in a new window]  and
Prithviraj Dasgupta
Bradley Woosley*
Affiliation:
Computer Science Department, University of Nebraska Omaha, Omaha, Nebraska, USA E-mail: pdasgupta@unomaha.edu
Prithviraj Dasgupta
Affiliation:
Computer Science Department, University of Nebraska Omaha, Omaha, Nebraska, USA E-mail: pdasgupta@unomaha.edu
*
*Corresponding author. E-mail: bwoosley@unomaha.edu
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Summary

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.

Keywords

Multi-robotSimultaneous task and motion planningExplorationPath uncertaintyReal time
Type
Articles
Information
Robotica , Volume 36 , Issue 3 , March 2018 , pp. 353 - 373
Copyright
Copyright © Cambridge University Press 2017 

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