Multi-robot task allocation for safe planning against stochastic hazard dynamics
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Date
2023Type
- Conference Paper
ETH Bibliography
yes
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Abstract
We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in safety-critical exploration, surveillance, and emergency rescue missions. The multi-robot optimal control problem is challenging because of the dynamic uncertainties and the exponentially increasing problem size with the number of robots. Leveraging recent works obtaining a tractable safety maximizing plan for a single robot, we propose a scalable two-stage framework. Specifically, the problem is split into a low-level single-agent problem and a high-level task allocation problem. The low-level problem uses an efficient approximation of stochastic reachability for a Markov decision process to derive the optimal control policy under dynamic uncertainty. The task allocation is solved using forward and reverse greedy heuristics and in a distributed auction-based manner. Properties of our safety objective enable provable performance bounds on the safety of the approximate solutions of the two heuristics. Show more
Publication status
publishedExternal links
Book title
2023 European Control Conference (ECC)Pages / Article No.
Publisher
IEEEEvent
Subject
stochastic reachability; optimal control; task allocation; greedy algorithms; multi-robot systemsMore
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ETH Bibliography
yes
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