HYBRID REASONING FOR MULTI-ROBOT DRILL PLANNING IN OPEN-PIT MINES

Acta Polytechnica

Federico Pecora¹  Henrik Andreasson²  Masoumeh Mansouri² 

[1] Centre for Applied Autonomous Sensor Systems (AASS), Örebro University

[2]  SE-701 82 Örebro, Sweden

关键词: robot planning;    multi-robot coordination;    on-line reasoning;   

DOI  :  

来源: Czech Technical University in Prague, Faculty of M

【 摘 要 】

Fleet automation often involves solving several strongly correlated sub-problems, including task allocation, motion planning, and coordination. Solutions need to account for very specific, domaindependent constraints. In addition, several aspects of the overall fleet management problem become known only online. We propose a method for solving the fleet-management problem grounded on a heuristically-guided search in the space of mutually feasible solutions to sub-problems. We focus on a mining application which requires online contingency handling and accommodating many domainspecific constraints. As contingencies occur, efficient reasoning is performed to adjust the plan online for the entire fleet.

【 授权许可】

Unknown