NDLI: xBots: An approach to generating and executing optimal multi-robot plans with cross-schedule dependencies

Content Provider	IEEE Xplore Digital Library
Author	Korsah, G.A. Kannan, B. Browning, B. Stentz, A. Dias, M.B.
Copyright Year	2012
Description	Author affiliation: Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA (Kannan, B.; Browning, B.; Stentz, A.; Dias, M.B.) \|\| Ashesi University College, Berekuso, Ghana (Korsah, G.A.)
Abstract	In this paper, we present an approach to bounded optimal planning and flexible execution for a robot team performing a set of spatially distributed tasks related by temporal ordering constraints such as precedence or synchronization. Furthermore, the manner in which the temporal constraints are satisfied impacts the overall utility of the team, due to the existence of both routing and delay costs. We present a bounded optimal offline planner for task allocation and scheduling in the presence of such cross-schedule dependencies, and a flexible, distributed online plan execution strategy. The integrated system performs task allocation and scheduling, executes the plans smoothly in the face of real-world variations in operation speed and task execution time, and ensures graceful degradation in the event of task failure. We demonstrate the capabilities of our approach on a team of three pioneer robots operating in an indoor environment. Experimental results demonstrate that the approach is effective for constrained planning and execution in the face of real-world variations.
Starting Page	115
Ending Page	122
File Size	531072
Page Count	8
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225234
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Delay Synchronization Robot kinematics Schedules Resource management
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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xBots: An Approach to Generating and Executing Optimal Multi-Robot Plans with Cross-Schedule Dependencies

Xbots: an approach to generating and executing optimal multi-robot plans with constraints (2011).

xBots : An Approach to Generating and Executing Optimal Multi-Robot Plans with Constraints

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xBots: An approach to generating and executing optimal multi-robot plans with cross-schedule dependencies

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