Safe Distributed Coordination of Heterogeneous Robots through Dynamic Simple Temporal Networks

نویسندگان

  • Andreas Frederik Wehowsky
  • Brian C. Williams
  • Edward M. Greitzer
چکیده

Research on autonomous intelligent systems has focused on how robots can robustly carryout missions in uncertain and harsh environments with very little or no human intervention.Robotic execution languages such as RAPs, ESL, and TDL improve robustness by manag-ing functionally redundant procedures for achieving goals. The model-based programmingapproach extends this by guaranteeing correctness of execution through pre-planning ofnon-deterministic timed threads of activities. Executing model-based programs effectivelyon distributed autonomous platforms requires distributing this pre-planning process. Thisthesis presents a distributed planner for model-based programs whose planning and ex-ecution is distributed among agents with widely varying levels of processor power andmemory resources. We make two key contributions. First, we reformulate a model-basedprogram, which describes cooperative activities, into a hierarchical dynamic simple tem-poral network. This enables efficient distributed coordination of robots and supports de-ployment on heterogeneous robots. Second, we introduce a distributed temporal planner,called DTP, which solves hierarchical dynamic simple temporal networks with the assis-tance of the distributed Bellman-Ford shortest path algorithm. The implementation of DTPhas been demonstrated successfully on a wide range of randomly generated examples andon a pursuer-evader challenge problem in simulation. Thesis Supervisor: Brian C. WilliamsTitle: Associate Professor

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تاریخ انتشار 2003