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Safe Distributed Coordination of Heterogeneous Robots through Dynamic Simple Temporal Networks

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dc.contributor.author Wehowsky, Andreas F. en_US
dc.date.accessioned 2004-10-20T20:31:59Z
dc.date.available 2004-10-20T20:31:59Z
dc.date.issued 2003-05-30 en_US
dc.identifier.other AITR-2003-012 en_US
dc.identifier.uri http://hdl.handle.net/1721.1/7106
dc.description.abstract Research on autonomous intelligent systems has focused on how robots can robustly carry out missions in uncertain and harsh environments with very little or no human intervention. Robotic execution languages such as RAPs, ESL, and TDL improve robustness by managing functionally redundant procedures for achieving goals. The model-based programming approach extends this by guaranteeing correctness of execution through pre-planning of non-deterministic timed threads of activities. Executing model-based programs effectively on distributed autonomous platforms requires distributing this pre-planning process. This thesis presents a distributed planner for modelbased programs whose planning and execution is distributed among agents with widely varying levels of processor power and memory resources. We make two key contributions. First, we reformulate a model-based program, which describes cooperative activities, into a hierarchical dynamic simple temporal network. This enables efficient distributed coordination of robots and supports deployment on heterogeneous robots. Second, we introduce a distributed temporal planner, called DTP, which solves hierarchical dynamic simple temporal networks with the assistance of the distributed Bellman-Ford shortest path algorithm. The implementation of DTP has been demonstrated successfully on a wide range of randomly generated examples and on a pursuer-evader challenge problem in simulation. en_US
dc.format.extent 95 p. en_US
dc.format.extent 3611933 bytes
dc.format.extent 908879 bytes
dc.format.mimetype application/postscript
dc.format.mimetype application/pdf
dc.language.iso en_US
dc.relation.ispartofseries AITR-2003-012 en_US
dc.subject AI en_US
dc.subject model-based autonomy en_US
dc.subject distributed planning en_US
dc.subject distributed constraint satisfaction en_US
dc.title Safe Distributed Coordination of Heterogeneous Robots through Dynamic Simple Temporal Networks en_US


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