Incorporating Potential Contingency Tasks in Multi-Robot Mission Planning
Incorporating Potential Contingency Tasks in Multi-Robot Mission Planning
复制标题
将潜在的应急任务纳入多机器人任务规划中
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Satyandra K. Gupta
中科院分区：
文献类型：
--
作者：
Shaurya Shriyam;Satyandra K. Gupta
在大多数复杂的任务中，会出现意想不到的情况，可能会干扰任务任务的计划执行。这些情况导致生成需要在最初计划的任务完成之前执行的应急任务。由于环境固有的不确定性，潜在的应急任务可能并不总是影响任务任务。如果偶然性任务在未来成为瓶颈，延迟对潜在偶然性任务的操作可能会导致空闲机器人浪费时间的惩罚。另一方面，对潜在的应急任务立即采取行动，如果该应急任务对特派团没有实际影响，就浪费时间而言可能会受到惩罚。当应急任务被报告时，计划者通过考虑应急任务影响任务任务的概率、对任务的影响及其空间位置，生成一个更新的计划，以最小化预期任务完成时间。通过仿真实验对算法的性能进行了表征。我们表明，主动的方法来应急任务管理优于保守的方法。
In most complex missions, unexpected situations arise that may interfere with the planned execution of mission tasks. These situations result in the generation of contingency tasks that need to be executed before the originally planned tasks are completed. Potential contingency tasks may not always affect mission tasks due to the inherent uncertainty in the environment. Deferring action on a potential contingency task may incur a penalty in terms of wasted time due to idle robots if the contingency task becomes a bottleneck in the future. On the other hand, immediate action on a potential contingency task may incur a penalty in terms of wasted time if the contingency task did not actually impact the mission. When a contingency task is reported, the planner generates an updated plan that minimizes expected mission completion time by taking into account the probability of the contingency task impacting mission tasks, its effect on the mission, and its spatial location. We have characterized the performance of the algorithm through simulation experiments. We show that the proactive approach to contingency task management outperforms a conservative approach.