Market-based Multi-robot coordination with HTN planning

被引：1

作者：

Milot, Antoine ^{[1
,2
,3
]}

Chauveau, Estelle ^{[2
]}

Lacroix, Simon ^{[1
]}

Lesire, Charles ^{[3
]}

机构：

[1] Univ Toulouse, CNRS, LAAS CNRS, 7 Ave Colonel Roche, F-31031 Toulouse, France

[2] NAVAL Grp, 99 Ave Pierre Gilles de Gennes, F-83190 Ollioules, France

[3] Univ Toulouse, ONERA DTIS, 2 Ave Edouard Belin, F-31055 Toulouse, France

来源：

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2021年

关键词：

D O I：

10.1109/IROS51168.2021.9636286

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose a decentralized approach that simultaneously allocates and decomposes high level tasks among various robots. The approach exploits HTN structures and algorithms, that are used within an auction-based allocation scheme, and aims at dealing with complex tasks with causal or temporal relations. The paper formalizes the approach, and depicts how HTN planning processes are used to estimate bids and distribute tasks. Results on a statistical series of coverage problems are presented and their performance is assessed through a comparison with a state of the art algorithm.

引用

页码：2606 / 2612

页数：7

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