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When Robots are Late: Configuration Planning for Multiple Robots with Dynamic Goals
Örebro University, School of Science and Technology, Örebro University, Sweden. (Center for Applied Autonomous Sensor Systems, Örebro University)
Örebro University, School of Science and Technology, Örebro University, Sweden. (Center for Applied Autonomous Sensor Systems)ORCID iD: 0000-0002-9652-7864
Örebro University, School of Science and Technology, Örebro University, Sweden. (Center for Applied Autonomous Sensor Systems, Örebro University)ORCID iD: 0000-0001-8229-1363
2013 (English)Conference paper (Refereed)
Abstract [en]

Unexpected contingencies in robot execution may induce a cascade of effects, especially when multiple robots are involved. In order to effectively adapt to this, robots need the ability to reason along multiple dimensions at execution time. We propose an approach to closed-loop planning capable of generating configuration plans, i.e., action plans for multirobot systems which specify the causal, temporal, resource and information dependencies between individual sensing, computation, and actuation components. The key feature which enables closed loop performance is that configuration plans are represented as constraint networks, which are shared between the planner and the executor and are continuously updated during execution.We report experiments run both in simulation and on real robots, in which a fault in one robot is compensated through different types of planmodifications at run time.

Place, publisher, year, edition, pages
2013.
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-30534OAI: oai:DiVA.org:oru-30534DiVA: diva2:644414
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Projects
EU-FP7 Project RobotERA
Funder
EU, FP7, Seventh Framework Programme
Note

IEEE/RSJ International Conference on Intelligent Robots and Systems, November 3-8, 2013 at Tokyo Big Sight, Japan

Available from: 2013-08-30 Created: 2013-08-30 Last updated: 2016-08-10

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fulltext(1353 kB)173 downloads
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Di Rocco, MaurizioPecora, FedericoSaffiotti, Alessandro
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ReferencesLink to record
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