NDLI: Pre-positioning Assets to Increase Execution Efficiency

Content Provider	IEEE Xplore Digital Library
Author	Hiatt, L.M. Simmons, R.
Copyright Year	2007
Description	Author affiliation: Dept. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA (Hiatt, L.M.)
Abstract	In many robotic domains, efficiency is an important component of task execution. One way to improve task efficiency is to lessen the overhead of beginning a task by making sure the necessary agents are near the task site when execution begins, minimizing travel time delays - in other words, pre-positioning agents for their future tasks. In static, certain domains, this can easily be done in advance and incorporated into the initial plan. In dynamic domains such as search and rescue, however, there is not enough certainty about task execution to plan for this ahead of time. To address this, we present here a planner that adds pre-positioning to a plan during execution. The planner strategically positions groups of idle robots whose future task assignments are uncertain in order to minimize travel time by the group as a whole once its members are allocated tasks. Because this planner must run in real time, we present five versions of the planning algorithm, addressing the trade-off of computation time and solution quality that results. We then show that by adding in this type of planning, the overhead of beginning a task can be reduced by up to 90%.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	324
Ending Page	329
File Size	243890
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363807
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Medical robotics Biomedical imaging Robotics and automation Intelligent robots Vehicle dynamics Computer science Delay effects Computer architecture Radio access networks Computational modeling
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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