oru.sePublikasjoner
Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Multi-Robot Planning Under Uncertain Travel Times and Safety Constraints
Örebro universitet, Institutionen för naturvetenskap och teknik.ORCID-id: 0000-0002-4527-7586
Oxford Robotics Institute, University of Oxford, UK.
Oxford Robotics Institute, University of Oxford, UK.
Örebro universitet, Institutionen för naturvetenskap och teknik.ORCID-id: 0000-0002-9652-7864
2019 (engelsk)Inngår i: Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence (IJCAI-19), 2019, s. 478-484Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We present a novel modelling and planning approach for multi-robot systems under uncertain travel times. The approach uses generalised stochastic Petri nets (GSPNs) to model desired team behaviour, and allows to specify safety constraints and rewards. The GSPN is interpreted as a Markov decision process (MDP) for which we can generate policies that optimise the requirements. This representation is more compact than the equivalent multi-agent MDP, allowing us to scale better. Furthermore, it naturally allows for asynchronous execution of the generated policies across the robots, yielding smoother team behaviour. We also describe how the integration of the GSPN with a lower-level team controller allows for accurate expectations on team performance. We evaluate our approach on an industrial scenario, showing that it outperforms hand-crafted policies used in current practice.

sted, utgiver, år, opplag, sider
2019. s. 478-484
Emneord [en]
Multi-agent planning, robot planning, planning with uncertainy
HSV kategori
Forskningsprogram
Datalogi
Identifikatorer
URN: urn:nbn:se:oru:diva-75820OAI: oai:DiVA.org:oru-75820DiVA, id: diva2:1343600
Konferanse
The 28th International Joint Conference on Artificial Intelligence (IJCAI19), August 10-16, Macao, China
Tilgjengelig fra: 2019-08-18 Laget: 2019-08-18 Sist oppdatert: 2020-01-16bibliografisk kontrollert

Open Access i DiVA

Multi-Robot Planning Under Uncertain Travel Times and Safety Constraints(469 kB)88 nedlastinger
Filinformasjon
Fil FULLTEXT01.pdfFilstørrelse 469 kBChecksum SHA-512
4f483e5dece475c26ac34912423295af43d588f8c047c7bd0d903da2cacaa6b3bcf0c2048c4904fabf4f7745eb1394e9db16cf6dfc3b358633a85a45aed1c492
Type fulltextMimetype application/pdf

Andre lenker

Proceedings

Personposter BETA

Mansouri, MasoumehPecora, Federico

Søk i DiVA

Av forfatter/redaktør
Mansouri, MasoumehPecora, Federico
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar
Totalt: 88 nedlastinger
Antall nedlastinger er summen av alle nedlastinger av alle fulltekster. Det kan for eksempel være tidligere versjoner som er ikke lenger tilgjengelige

urn-nbn

Altmetric

urn-nbn
Totalt: 177 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf