Causal Reasoning for Planning and Coordination of Multiple Housekeeping Robots

نویسندگان

  • Erdi Aker
  • Ahmetcan Erdogan
  • Esra Erdem
  • Volkan Patoglu
چکیده

We consider a housekeeping domain with multiple cleaning robots and represent it in the action language C+. With such a formalization of the domain, a plan can be computed using the causal reasoner CCALC for each robot to tidy some part of the house. However, to find a plan that characterizes a feasible trajectory that does not collide with obstacles, we need to consider geometric reasoning as well. For that, we embed motion planning in the domain description using external predicates. For safe execution of feasible plans, we introduce a planning and monitoring algorithm so that the robots can recover from plan execution failures due to heavy objects that cannot be lifted alone. The coordination of robots to help each other is considered for such a recovery. We illustrate the applicability of this algorithm with a simulation of a housekeeping domain.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Housekeeping with Multiple Autonomous Robots: Representation, Reasoning and Execution

We formalize actions and change in a housekeeping domain with multiple cleaning robots, and commonsense knowledge about this domain, in the action language C+. Geometric reasoning is lifted to high-level representation by embedding motion planning in the domain description using external predicates. With such a formalization of the domain, a plan can be computed using the causal reasoner CCALC ...

متن کامل

Housekeeping with Multiple Autonomous Robots: Knowledge Representation and Automated Reasoning for a Tightly Integrated Robot Control Architecture

We embed knowledge representation and automated reasoning in each level of the classical 3-layer robot control architecture, in such a way as to tightly integrate these layers. At the high-level, we represent not only actions and change but also commonsense knowledge in the action description language C+. Geometric reasoning is lifted to the high-level by embedding motion planning in the domain...

متن کامل

Multiple-organizational coordination planning for humanitarian relief operations

In humanitarian relief operations (HRO), due to the excessive number of relief organizations, multiple organizational coordination is a demanding and complicated task. Considering such a problem, this paper proposes a two-phase mechanism to coordinate multiple heterogeneous relief organizations in a decentralized HRO logistics network. To address such a problem, first a bi-level mixed integer l...

متن کامل

A Constraint Based Approach to Interleaving Planning and Execution for Multirobot Coordination

Enabling multiple robots to work together as a team is a difficult problem. Robots must decide amongst themselves who should work on which goals and at what time each goal should be achieved. Since the team is situated in some physical environment, the robots must consider travel time in these decisions. This is particularly challenging in time critical domains where goal rewards decrease over ...

متن کامل

Formation Control and Path Planning of Two Robots for Tracking a Moving Target

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2011