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Hybrid Reasoning for Multi-robot Drill Planning in Open-pit Mines
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-2953-1564
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-9652-7864
2016 (English)In: Acta Polytechnica, ISSN 1210-2709, E-ISSN 1805-2363, Vol. 56, no 1, 47-56 p.Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Prague, Czech Republic: Czech Technical University in Prague , 2016. Vol. 56, no 1, 47-56 p.
Keyword [en]
robot planning, multi-robot coordination, on-line reasoning
National Category
Computer Science
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-51018DOI: 10.14311/APP.2016.56.0047Scopus ID: 2-s2.0-84959316752OAI: oai:DiVA.org:oru-51018DiVA: diva2:941273
Available from: 2016-06-22 Created: 2016-06-22 Last updated: 2017-11-28Bibliographically approved

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Mansouri, MasoumehAndreasson, HenrikPecora, Federico
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