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Time-extended multi-robot coordination for domains withintra-path constraints

Time-extended multi-robot coordination for domains withintra-path constraints Many applications require teams of robots to cooperatively execute tasks. Among these domains are those in which successful coordination must respect intra-path constraints, which are constraints that occur on the paths of agents and affect route planning. This work focuses on multi-agent coordination for disaster response with intra-path precedence constraints, a compelling application that is not well addressed by current coordination methods. In this domain a group of fire truck agents attempt to address fires spread throughout a city in the wake of a large-scale disaster. The disaster has also caused many city roads to be blocked by impassable debris, which can be cleared by bulldozer robots. A high-quality coordination solution must determine not only a task allocation but also what routes the fire trucks should take given the intra-path precedence constraints and which bulldozers should be assigned to clear debris along those routes. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Time-extended multi-robot coordination for domains withintra-path constraints

Autonomous Robots , Volume 30 (1) – Aug 31, 2010

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References (20)

Publisher
Springer Journals
Copyright
Copyright © 2010 by Springer Science+Business Media, LLC
Subject
Engineering; Computer Imaging, Vision, Pattern Recognition and Graphics; Artificial Intelligence (incl. Robotics); Control , Robotics, Mechatronics; Robotics and Automation
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1007/s10514-010-9202-3
Publisher site
See Article on Publisher Site

Abstract

Many applications require teams of robots to cooperatively execute tasks. Among these domains are those in which successful coordination must respect intra-path constraints, which are constraints that occur on the paths of agents and affect route planning. This work focuses on multi-agent coordination for disaster response with intra-path precedence constraints, a compelling application that is not well addressed by current coordination methods. In this domain a group of fire truck agents attempt to address fires spread throughout a city in the wake of a large-scale disaster. The disaster has also caused many city roads to be blocked by impassable debris, which can be cleared by bulldozer robots. A high-quality coordination solution must determine not only a task allocation but also what routes the fire trucks should take given the intra-path precedence constraints and which bulldozers should be assigned to clear debris along those routes.

Journal

Autonomous RobotsSpringer Journals

Published: Aug 31, 2010

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