Empirical study of planning and execution for large teams of robots
First Workshop on Model-Driven Robot Software Engineering at Software Technologies: Applications and Foundations, York, UK, (2014)Abstract
Autonomous mobile robots can substantially increase the effectiveness of planning by acting as coordinated team. Our focus is on the planning of the activities of a team of autonomous, mobile robots in such environments. The communication bandwidth of robot systems is constrained. Being able to model complex activities of a team in an intuitive way requires combining modeling and planning techniques. The main contribution of the paper is the optimization of the planning process while using every agent as a planning resource and aiming at low communication needs. A general conclusion is that the planning process for teams of up to 75 agents can be improved compared to state of the art approaches by up to 23%.
