IMPERA: Integrated Mission Planning for Multi-Robot Systems

Robotics

Daniel Saur¹  Kurt Geihs² 

[1] Distributed Systems Group, University of Kassel, Wilhelmshöher Allee 73, Kassel 34121, Germany; E-Mail

关键词: multi-agent systems;    teamwork;    coordination;    planning;    cooperative exploration;    manipulation;   

DOI  :  10.3390/robotics4040435

来源: mdpi

【 摘 要 】

This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems). The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents). Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems) to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.