Market-based Multi-robot coordination with HTN planning
Résumé
We propose a decentralized approach that simultaneously al-locates and decomposes high level tasks among various robots. The ap-proach exploits HTN structures and algorithms, that are used within anauction-based allocation scheme, and aims at dealing with complex taskswith causal or temporal relations. The paper formalizes the approach,and depicts how HTN planning processes are used to estimate bids anddistribute tasks. Results on a statistical series of coverage problems arepresented and their performance is assessed through a comparison witha state of the art algorithm.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
---|