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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...

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Publication status:
Published
Peer review status:
Peer reviewed
Version:
Accepted Manuscript

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Publisher copy:
10.1109/IROS.2018.8594404

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Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Oxford college:
Pembroke College
ORCID:
0000-0002-7556-6098
Publisher:
IEEE Publisher's website
Volume:
7
Issue:
6
Pages:
3559-3564
Publication date:
2019-01-07
Acceptance date:
2018-07-20
DOI:
ISSN:
2153-0866
Pubs id:
pubs:908247
URN:
uri:23bdb31b-5218-4fe6-a7e1-2cd871a6c7a2
UUID:
uuid:23bdb31b-5218-4fe6-a7e1-2cd871a6c7a2
Local pid:
pubs:908247
ISBN:
978-1-5386-8094-0

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