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Decentralized Task and Path Planning for Multi-Robot Systems

Chen, Yuxiao and Rosolia, Ugo and Ames, Aaron D. (2021) Decentralized Task and Path Planning for Multi-Robot Systems. IEEE Robotics and Automation Letters, 6 (3). pp. 4337-4344. ISSN 2377-3766. doi:10.1109/LRA.2021.3068103. https://resolver.caltech.edu/CaltechAUTHORS:20210120-165241963

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Abstract

We consider a multi-robot system with a team of collaborative robots and multiple tasks that emerges over time. We propose a fully decentralized task and path planning (DTPP) framework consisting of a task allocation module and a localized path planning module. Each task is modeled as a Markov Decision Process (MDP) or a Mixed Observed Markov Decision Process (MOMDP) depending on whether full states or partial states are observable. The task allocation module then aims at maximizing the expected pure reward (reward minus cost) of the robotic team. We fuse the Markov model into a factor graph formulation so that the task allocation can be decentrally solved using the max-sum algorithm. Each robot agent follows the optimal policy synthesized for the Markov model and we propose a localized forward dynamic programming scheme that resolves conflicts between agents and avoids collisions. The proposed framework is demonstrated with high fidelity ROS simulations and experiments with multiple ground robots.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/LRA.2021.3068103DOIArticle
https://arxiv.org/abs/2011.10034arXivDiscussion Paper
ORCID:
AuthorORCID
Chen, Yuxiao0000-0001-5276-7156
Rosolia, Ugo0000-0002-1682-0551
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2021 IEEE. Manuscript received October 15, 2020; accepted February 14, 2021. Date of publication March 23, 2021; date of current version April 9, 2021. This letter was recommended for publication by Associate Editor C. Paxton and Editor N. Amato upon evaluation of the Reviewers’ comments. This work was supported by AFOSR Award FA9550-19-1-0302 and NSF Award 1932091.
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-19-1-0302
NSFCNS-1932091
Subject Keywords:Autonomous systems, multi-robot systems, mobile robots
Issue or Number:3
DOI:10.1109/LRA.2021.3068103
Record Number:CaltechAUTHORS:20210120-165241963
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20210120-165241963
Official Citation:Y. Chen, U. Rosolia and A. D. Ames, "Decentralized Task and Path Planning for Multi-Robot Systems," in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4337-4344, July 2021, doi: 10.1109/LRA.2021.3068103
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:107613
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:21 Jan 2021 15:04
Last Modified:19 Apr 2021 18:34

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