Multirobot systems must be able to maintain performance when robots get delayed during execution. For mobile robots, one source of delays is congestion . Congestion occurs when robots deployed in shared physical spaces interact, as robots present in the same area simultaneously must maneuver to avoid each other. Congestion can adversely affect navigation performance and increase the duration of navigation actions. In this article, we present a multirobot planning framework that utilizes learnt probabilistic models of how congestion affects navigation duration. Central to our framework is a probabilistic reservation table , which summarizes robot plans, capturing the effects of congestion. To plan, we solve a sequence of single-robot time-varying Markov automata , where transition probabilities and rates are obtained from the probabilistic reservation table. We also present an iterative model refinement procedure for accurately predicting execution-time robot performance. We evaluate our framework with extensive experiments on synthetic data and simulated robot behavior.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Congestion-aware policy synthesis for multirobot systems


    Beteiligte:
    Street, C (Autor:in) / Puetz, S (Autor:in) / Muehlig, M (Autor:in) / Hawes, N (Autor:in) / Lacerda, B (Autor:in)

    Erscheinungsdatum :

    04.05.2022



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Spatially targeted communication in decentralized multirobot systems

    Mathews, N. | British Library Online Contents | 2015


    MULTIROBOT FOR TRANSPORT AND REHABILITATION

    HALADA PAVEL / HALADOVÁ PETRA | Europäisches Patentamt | 2018

    Freier Zugriff

    Multirobot coverage of modular environments

    Mirko Salaris / Alessandro Riva / Francesco Amigoni | BASE | 2020

    Freier Zugriff

    Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation

    Mas, Ignacio Agustin / Kitts, Christopher | BASE

    Freier Zugriff

    Congestion-Aware Bi-Modal Delivery Systems Utilizing Drones

    Mark Beliaev / Negar Mehr / Ramtin Pedarsani | DOAJ | 2023

    Freier Zugriff