Conference proceedings article
Empirical study of planning and execution for large teams of robots
Publication Details
Authors: | Saur, D.; Haque, T.; Geihs, K. |
Editor: | Assmann, Uwe; Wagner, Gerd |
Publisher: | CEUR-WS |
Place: | York, UK |
Publication year: | 2014 |
Pages range : | 78-90 |
Book title: | Workshop on Model-Driven Robot Software Engineering |
Title of series: | http://ceur-ws.org/Vol-1319 |
Volume number: | MORSE-2014 |
Abstract
Autonomous mobile robots can substantially increase the effectiveness of planning by acting as coordinated team. Our focus is on the planning of the activities of a team of autonomous, mobile robots in such environments. The communication bandwidth of robot systems is constrained. Being able to model complex activities of a team in an intuitive way requires combining modeling and planning techniques. The main contribution of the paper is the optimization of the planning process while using every agent as a planning resource and aiming at low communication needs. A general conclusion is that the planning process for teams of up to 75 agents can be improved compared to state of the art approaches by up to 23%.
Autonomous mobile robots can substantially increase the effectiveness of planning by acting as coordinated team. Our focus is on the planning of the activities of a team of autonomous, mobile robots in such environments. The communication bandwidth of robot systems is constrained. Being able to model complex activities of a team in an intuitive way requires combining modeling and planning techniques. The main contribution of the paper is the optimization of the planning process while using every agent as a planning resource and aiming at low communication needs. A general conclusion is that the planning process for teams of up to 75 agents can be improved compared to state of the art approaches by up to 23%.
