Hybrid Reasoning for Multi-robot Drill Planning in Open-pit Mines
2016 (English)In: Acta Polytechnica, ISSN 1210-2709, E-ISSN 1805-2363, Vol. 56, no 1, 47-56 p.Article in journal (Refereed) Published
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.
robot planning, multi-robot coordination, on-line reasoning
Research subject Computer and Systems Science
IdentifiersURN: urn:nbn:se:oru:diva-51018DOI: 10.14311/APP.2016.56.0047ScopusID: 2-s2.0-84959316752OAI: oai:DiVA.org:oru-51018DiVA: diva2:941273