Multi-robot task allocation for safe planning against stochastic hazard dynamics
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Datum
2023Typ
- Conference Paper
ETH Bibliographie
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. Mehr anzeigen
Publikationsstatus
publishedExterne Links
Buchtitel
2023 European Control Conference (ECC)Seiten / Artikelnummer
Verlag
IEEEKonferenz
Thema
stochastic reachability; optimal control; task allocation; greedy algorithms; multi-robot systemsETH Bibliographie
yes
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