NDLI: When robots are late: Configuration planning for multiple robots with dynamic goals

Content Provider	IEEE Xplore Digital Library
Author	Di Rocco, M. Pecora, F. Saffiotti, A.
Copyright Year	2013
Description	Author affiliation: Center for Appl. Autonomous Sensor Syst., Orebro Univ., Orebro, Sweden (Di Rocco, M.; Pecora, F.; Saffiotti, A.)
Abstract	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 plan modifications at run time.
Sponsorship	IEEE Ind. Electron. Soc.
File Size	1409588
Starting Page	9515
Ending Page	5922
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697214
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Planning Cognition Dynamic scheduling Navigation
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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