Optimal Multi-robot Task Planning: from Synthesis to Execution (and Back)

Optimal Multi-robot Task Planning: from Synthesis to Execution (and Back)

Francesco Leofante

Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence
Doctoral Consortium. Pages 5771-5772. https://doi.org/10.24963/ijcai.2018/829

Integrated task planning and execution is a challenging problem with several applications in AI and robotics. In this work we consider the problem of generating and executing optimal plans for multi-robot systems under temporal and ordering constraints. More specifically, we propose an approach that unites the power of Optimization Modulo Theories with the flexibility of an on-line executive, providing optimal solutions for task planning, and runtime feedback on their execution.
Keywords:
Constraints and Satisfiability: Constraints and Satisfiability
Planning and Scheduling: Robot Planning
Robotics and Vision: Multi-Robot Systems