Automatic Configuration of Multi-Robot Systems: Planning for Multiple Steps

Authors:
Robert Lundh;Lars Karlsson;Alessandro Saffiotti
Affiliations:
Center for Applied Autonomous Sensor Systems, Örebro University, Sweden. email: robert.lundh@aass.oru.se;Center for Applied Autonomous Sensor Systems, Örebro University, Sweden. email: lars.karlsson@aass.oru.se;Center for Applied Autonomous Sensor Systems, Örebro University, Sweden. email: alessandro.saffiotti@aass.oru.se
Venue:
Proceedings of the 2008 conference on ECAI 2008: 18th European Conference on Artificial Intelligence
Year:
2008

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Abstract

We consider multi-robot systems where robots need to cooperate tightly by sharing functionalities with each other. There are methods for automatically configuring a multi-robot system for tight cooperation, but they only produce a single configuration. In this paper, we show how methods for automatic configuration can be integrated with methods for task planning in order to produce a complete plan were each step is a configuration. We also consider the issues of monitoring and replanning in this context, and we demonstrate our approach on a real multi-robot system, the PEIS-Ecology.