Conference item icon

Conference item

Simultaneous task allocation and planning under uncertainty

Abstract:

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...

Expand abstract
Publication status:
Published
Peer review status:
Peer reviewed

Actions


Access Document


Files:
Publisher copy:
10.1109/IROS.2018.8594404

Authors


More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Oxford college:
Pembroke College
Role:
Author
ORCID:
0000-0002-7556-6098
More from this funder
Name:
Engineering and Physical Sciences Research Council
Funding agency for:
Lacerda, B
Hawes, N
Grant:
EP/R026084/1
EP/R026084/1
More from this funder
Name:
Defense Advanced Research Projects Agency
Publisher:
Institute of Electrical and Electronics Engineers
Host title:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Journal:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) More from this journal
Publication date:
2019-01-22
Acceptance date:
2018-06-29
DOI:
Keywords:
Pubs id:
pubs:866478
UUID:
uuid:0b5fc425-f598-48cc-92c6-525df027525a
Local pid:
pubs:866478
Source identifiers:
866478
Deposit date:
2018-11-16

Terms of use


Views and Downloads






If you are the owner of this record, you can report an update to it here: Report update to this record

TO TOP