Heterogeneous multi-robot cooperation
Heterogeneous multi-robot cooperation
Robot Motion Planning
Multiagent Mission Specification and Execution
Autonomous Robots
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
Reinforcement Learning in the Multi-Robot Domain
Autonomous Robots
The 4th International Symposium on Experimental Robotics IV
Combining multiple goals in a behavior-based architecture
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Management of a multi-robot system in a public environment
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
Polynomial time approximation schemes for Euclidean TSP and other geometric problems
FOCS '96 Proceedings of the 37th Annual Symposium on Foundations of Computer Science
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Multi-agent robot systems as distributed autonomous systems
Advanced Engineering Informatics
A task-resource allocation method based on effectiveness
Knowledge-Based Systems
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We introduce a new distributed planning paradigm, which permits optimal execution and dynamic replanning of complex multi-goal missions. In particular, the approach permits dynamic allocation of goals to vehicles based on the current environment model while maintaining information-optimal route planning for each individual vehicle to individual goals. Complex missions can be specified by using a grammar in which ordering of goals, priorities, and multiple alternatives can be described. We show that the system is able to plan local paths in obstacle fields based on sensor data, to plan and update global paths to goals based on frequent obstacle map updates, and to modify mission execution, e.g., the assignment and ordering of the goals, based on the updated paths to the goals.The multi-vehicle planning system is based on the GRAMMPS planner; the on-board dynamic route planner is based on the iD* planner. Experiments were conducted with stereo and high-speed ladar as the to sensors used for obstacle detection. This paper focuses on the multi-vehicle planner and the systems architecture. A companion paper (Brumitt et al., 2001) analyzes experiments with the multi-vehicle system and describes in details the other components of the system.