Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics View Full Text


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Article Info

DATE

2018-05-19

AUTHORS

Francesco Leofante, Erika Ábrahám, Tim Niemueller, Gerhard Lakemeyer, Armando Tacchella

ABSTRACT

Model-based synthesis allows to generate plans to achieve high-level tasks while satisfying certain properties of interest. However, when such plans are executed on concrete systems, several modeling assumptions may be challenged, jeopardizing their real applicability. This paper presents an integrated system for generating, executing and monitoring optimal-by-construction plans for multi-robot systems. This system unites the power of Optimization Modulo Theories with the flexibility of an on-line executive, providing optimal solutions for high-level task planning, and runtime feedback on their feasibility. After presenting how our system orchestrates static and runtime components, we demonstrate its capabilities using the RoboCup Logistics League as testbed. We do not only present our final solution but also its chronological development, and draw some general observations for the development of OMT-based approaches. More... »

PAGES

1-21

References to SciGraph publications

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  • 2016. Satisfiability Checking: Theory and Applications in SOFTWARE ENGINEERING AND FORMAL METHODS
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  • 1999-03-12. Symbolic Model Checking without BDDs in TOOLS AND ALGORITHMS FOR THE CONSTRUCTION AND ANALYSIS OF SYSTEMS
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  • 2014-02. Verification and validation meet planning and scheduling in INTERNATIONAL JOURNAL ON SOFTWARE TOOLS FOR TECHNOLOGY TRANSFER
  • Identifiers

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    http://scigraph.springernature.com/pub.10.1007/s10796-018-9858-3

    DOI

    http://dx.doi.org/10.1007/s10796-018-9858-3

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1104125344


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