{"type":"ScholarlyArticle","title":"Optimal Multi-robot Task Planning: from Synthesis to Execution (and Back)","authors":[{"name":"Francesco Leofante","slug":"francesco-leofante","given":"Francesco","family":"Leofante","affiliation":"RWTH Aachen University , Germany; University of Genoa , Italy"}],"abstract":"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.","doi":"10.24963/ijcai.2018/829","url":"https://ijcai.org/proceedings/2018/829","pdf":"https://ijcai.org/proceedings/2018/0829.pdf","markdown":"https://ijcai.org/proceedings/2018/829.md","bibtex":"https://ijcai.org/proceedings/2018/bibtex/829","volume":{"slug":"2018","title":"Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2018","url":"https://ijcai.org/proceedings/2018/","year":2018,"location":"Stockholm","dates":"13-19 July 2018","editors":"Jérôme Lang","isbn":"978-0-9992411-2-7","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2018"},"section":"Doctoral Consortium","track":"Doctoral Consortium","number":829,"pages":{"first":5771,"last":5772},"keywords":["Planning and Scheduling: Robot Planning","Robotics and Vision: Multi-Robot Systems","Constraints and Satisfiability: Constraints and Satisfiability"],"videos":[],"references":[{"position":1,"raw":"[Bjørner et al., 2015] Nikolaj Bjørner, Anh-Dung Phan, and Lars Fleckenstein. νz -an optimizing SMT solver. 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