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Integrating planning and execution for a team of heterogeneous robots with time and communication constraints

Abstract : Field multi-robot missions face numerous unavoidable disturbances, such as delays in executing tasks and intermittent communications. Coping with such disturbances requires to endow the robots with high-level decision skills. We present a distributed decision architecture based first on a hybrid planner that can manage decentralized repairs with partial communication, and secondly on a distributed execution algorithm that efficiently propagates delays. This architecture has been successfully experimented on the field for the achievement of surveillance missions involving eight (8) real autonomous aerial and ground robots.
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https://hal.laas.fr/hal-01706146
Contributor : Simon Lacroix <>
Submitted on : Wednesday, February 28, 2018 - 5:50:06 PM
Last modification on : Wednesday, May 6, 2020 - 4:18:12 PM
Long-term archiving on: : Monday, May 28, 2018 - 1:30:19 PM

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  • HAL Id : hal-01706146, version 1

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Patrick Bechon, Magali Barbier, Christophe Grand, Simon Lacroix, Charles Lesire, et al.. Integrating planning and execution for a team of heterogeneous robots with time and communication constraints. IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbanne, Australia. 7p. ⟨hal-01706146⟩

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