Conference item
Simultaneous task allocation and planning under uncertainty
- Abstract:
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We propose novel techniques for task allocation and planning in multi-robot systems operating in uncertain environments. Task allocation is performed simultaneously with planning, which provides more detailed information about individual robot behaviour, but also exploits independence between tasks to do so efficiently. We use Markov decision processes to model robot behaviour and linear temporal logic to specify tasks and safety constraints. Building upon techniques and tools from formal ver...
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- Publication status:
- Published
- Peer review status:
- Peer reviewed
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- Files:
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(Accepted manuscript, pdf, 557.1KB)
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- Publisher copy:
- 10.1109/IROS.2018.8594404
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Authors
Funding
+ Engineering and Physical Sciences Research Council
More from this funder
Funding agency for:
Lacerda, B
Grant:
EP/R026084/1
+ Engineering and Physical Sciences Research Council
More from this funder
Funding agency for:
Hawes, N
Grant:
EP/R026084/1
Defense Advanced Research Projects Agency
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Bibliographic Details
- Publisher:
- Institute of Electrical and Electronics Engineers Publisher's website
- Journal:
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) Journal website
- Host title:
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
- Publication date:
- 2019-01-22
- Acceptance date:
- 2018-06-29
- DOI:
- Source identifiers:
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866478
Item Description
Terms of use
- Copyright holder:
- Institute of Electrical and Electronics Engineers
- Copyright date:
- 2019
- Notes:
- ©2018 IEEE. This is the accepted manuscript version of the article. The final version is available online from Institute of Electrical and Electronics Engineers at: https://doi.org/10.1109/IROS.2018.8594404
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