Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems
Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems
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DOI：
10.1109/mis.2017.4531217
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发表时间：
2017-11
影响因子：
6.4
通讯作者：
Hang Ma;W. Hönig;L. Cohen;T. Uras;Hong Xu;T. K. S. Kumar;Nora Ayanian;Sven Koenig
中科院分区：
文献类型：
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作者：
Hang Ma;W. Hönig;L. Cohen;T. Uras;Hong Xu;T. K. S. Kumar;Nora Ayanian;Sven Koenig
作者介绍了一个分层框架，用于协调多机器人系统中的任务和运动级操作。他们的框架是基于使用简单的时间网络同时理解任务级协调所需的优先级/因果约束的理念的想法，并考虑了对机器人的一些运动学约束所需的简单时间约束。在计划生成阶段，该框架提供了一种可扩展的方法，用于生成计划，以实现机器人组的高级任务，并考虑了一些运动学约束。在计划执行阶段，该框架提供了一种吸收不完美计划执行的方法，以避免在许多情况下耗时的重新计划。作者使用多机器人路径规划问题作为案例研究，以介绍其对多机器人系统长期自治的框架背后的关键思想。
The authors present an overview of a hierarchical framework for coordinating task- and motion-level operations in multirobot systems. Their framework is based on the idea of using simple temporal networks to simultaneously reason about precedence/causal constraints required for task-level coordination and simple temporal constraints required to take some kinematic constraints of robots into account. In the plan-generation phase, the framework provides a computationally scalable method for generating plans that achieve high-level tasks for groups of robots and take some of their kinematic constraints into account. In the plan-execution phase, the framework provides a method for absorbing an imperfect plan execution to avoid time-consuming re-planning in many cases. The authors use the multirobot path-planning problem as a case study to present the key ideas behind their framework for the long-term autonomy of multirobot systems.