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, 425.8KB)
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- Publisher copy:
- 10.1109/IROS.2018.8594404
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Authors
Bibliographic Details
- Publisher:
- IEEE Publisher's website
- Journal:
- 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 Journal website
- Volume:
- 7
- Issue:
- 6
- Pages:
- 3559-3564
- Host title:
- 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Publication date:
- 2019-01-07
- Acceptance date:
- 2018-07-20
- DOI:
- ISSN:
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2153-0866
- Source identifiers:
-
908247
- ISBN:
- 9781538680940
Item Description
- Pubs id:
-
pubs:908247
- UUID:
-
uuid:23bdb31b-5218-4fe6-a7e1-2cd871a6c7a2
- Local pid:
- pubs:908247
- Deposit date:
- 2018-08-17
Terms of use
- Copyright holder:
- IEEE
- Copyright date:
- 2019
- Notes:
- Copyright © 2018 IEEE. This is the accepted manuscript version of the article. The final version is available online from IEEE at: https://doi.org/10.1109/IROS.2018.8594404
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