{"type":"ScholarlyArticle","title":"Multi-Robot Planning Under Uncertain Travel Times and Safety Constraints","authors":[{"name":"Masoumeh Mansouri","slug":"masoumeh-mansouri","given":"Masoumeh","family":"Mansouri","affiliation":"Örebro University , Sweden"},{"name":"Bruno Lacerda","slug":"bruno-lacerda","given":"Bruno","family":"Lacerda","affiliation":"Oxford Robotics Institute , University of Oxford , UK"},{"name":"Nick Hawes","slug":"nick-hawes","given":"Nick","family":"Hawes","affiliation":"Oxford Robotics Institute , University of Oxford , UK"},{"name":"Federico Pecora","slug":"federico-pecora","given":"Federico","family":"Pecora","affiliation":"Örebro University , Sweden"}],"abstract":"We present a novel modelling and planning approach for multi-robot systems under uncertain travel times. The approach uses generalised stochastic Petri nets (GSPNs) to model desired team behaviour, and allows to specify safety constraints and rewards. The GSPN is interpreted as a Markov decision process (MDP) for which we can generate policies that optimise the requirements. This representation is more compact than the equivalent multi-agent MDP, allowing us to scale better.\r\nFurthermore, it naturally allows for asynchronous execution of the generated policies across the robots, yielding smoother team behaviour. We also describe how the integration of the GSPN with a lower-level team controller allows for accurate expectations on team performance. We evaluate our approach on an industrial scenario, showing that it outperforms hand-crafted policies used in current practice.","doi":"10.24963/ijcai.2019/68","url":"https://ijcai.org/proceedings/2019/68","pdf":"https://ijcai.org/proceedings/2019/0068.pdf","markdown":"https://ijcai.org/proceedings/2019/68.md","bibtex":"https://ijcai.org/proceedings/2019/bibtex/68","volume":{"slug":"2019","title":"Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2019","url":"https://ijcai.org/proceedings/2019/","year":2019,"location":"Macao","dates":"10-16 August 2019","editors":"Sarit Kraus","isbn":"978-0-9992411-4-1","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2019"},"section":"Agent-based and Multi-agent Systems","track":"Main track","number":68,"pages":{"first":478,"last":484},"keywords":["Planning and Scheduling: Robot Planning","Agent-based and Multi-agent Systems: Multi-agent Planning","Planning and Scheduling: Planning under Uncertainty"],"videos":[],"references":[{"position":1,"raw":"[Balbo, 2007] Gianfranco Balbo. 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