A Decentralised Strategy gy for r Hete teroge geneous AUV Mis - - PowerPoint PPT Presentation
A Decentralised Strategy gy for r Hete teroge geneous AUV Mis issions via ia Goal l Dis istribution and Temporal Pla lanning Yaniel Carreno, ric Pairet, Yvan Petillot, and Ron Petrick Edinburgh Centre for Robotics Heriot-Watt
Yaniel Carreno, Èric Pairet, Yvan Petillot, and Ron Petrick
Edinburgh Centre for Robotics Heriot-Watt University & University of Edinburgh Edinburgh, Scotland, United Kingdom {y.carreno, eric.pairet, y.r.petillot, r.petrick}@hw.ac.uk
term de deplo loymen ents ts in in th the unde derwate ter domain in usually lly req equir ire th the in intr troductio ion of
ti-robot syste tems as as serv ervic ice-orie riente ted age agent nts.
lti-robot syste tems can support complex missio ions th that over ercome many of
the lim limita itatio tions of
ingle le-robot solu lutio tions, pro rovid iding ing ro robustn tness to to the he overa verall ll syste tem. Simulation Environment Lab Environment
In re real-world rld applic icatio ions of
ics, planning ing pro rovid ides solu lutio ions in in enablin ling autonomous and in intellig lligent beh ehavio iours for hete hetero rogen eneous robotic ic platfo form rms to to co comple lete its ts ta tasks.
tic pla latfo forms: missio ion dep deplo loyments with th fleet eets of
Autonomous Und nderwater Veh Vehic icle les (AU (AUVs).
Approach: model as as tem temporal pla lanning ing pro roble lems. ‒ Conc ncurr rrent t act ctio ion n exe executio ion with th di diffe fere rent t ti time e sl slots. ‒ Make ke use use of nu numeric ric co constra rain ints. ‒ Use se tem tempora ral l ref eferenc nces to to so solv lve mul ulti-vehic icle le pro roble lems. ‒ Al Allo low th the e imple lementatio tion of co coordin inated ac actio ions.
Build ld on
hes that that use use tem tempora ral pla lannin ning (e (e.g., PAN PANDORA pro roje ject & EU EUROPtus). ‒ Si Sing ngle le robot t approach. ‒ Requir equire e fast pla lannin ing g tec techn hniq iques (s (small ll pla lannin ning ti times) and nd (ne (near) r) optim imal l goa goal l di dist strib ributio ion. ‒ Often ten poor ta task allo locatio tion in n com comple lex missio ions with th larg rge nu numbers rs of goa goals.
Ben Benchm hmark rk planne anners ge gene nerate rate non non-optim timal l goa goal di distr trib ibutio tions (left ft – PO POPF, ri righ ght – OP OPTIC) in n the he unde underwater scena nario rio. Poor Poor goa goal di distrib tributio ion n af affe fects missio ion costs: : en energy ergy consumptio ion and and total tal di distan tance e trave ravelled lled.
OUT OUTPUT PL PLAN ANNER AGN AGNOSTIC TIC APPR APPROACH
CAP APABILI ILITY ALLO ALLOCATIO ION OUT OUTPUT PL PLAN ANNER AGN AGNOSTIC TIC APPR APPROACH
ROB OBOTS DI DIST STRIB IBUT UTIO ION OUT OUTPUT PL PLAN ANNER AGN AGNOSTIC TIC APPR APPROACH
GO GOALS LS ALLO ALLOCATIO TION OUT OUTPUT PL PLAN ANNER AGN AGNOSTIC TIC APPR APPROACH
TASK K ALL ALLOCATION DE DECENTRALISED PL PLANNING
MIS ISSION EX EXECUTION
The The DHRTA module outp tput is is a set of
ls describ ibed in in sta tanda dard PDDL with ith th the follo llowin ing structure: (goal_ al_na name param aramete ters)[r [robot] t]
MI MISSI SSION GOAL ALS
(poi_valve_turned off poi55) (poi_valve_turned on poi35) (poi_rock_analysis poi40) (poi_soil_analysis poi34) …
ROSP SPla lan (a (auvN)
PDDL Domain in:
(define (domain auvs_inspection) (:requirements …) (:types …) (:predicates …) (:functions …) (:durative-action navigation …) (:durative-action broadcast_data …) (:durative-action rock_inspection …) (:durative-action valve_inspection …) (:durative-action valve_turning …) …
PDDL Prob
lem:
(define (problem task) (:domain auvs_inspection) (:objects …) (:init …) (:goal (and (poi_valve_turned off poi55))) (:metric minimize (total-time)) )
Miss ssio ion n Def efin init itio ion (a (auvN)
ROS OSPla lan n (auv auv1)
OPTI PTIC C Pla lanner
PLA PLAN DISPATCH
PLA LAN
TAS ASK DIST STRIBUTION (poi_ i_valve_ e_tu turn rned ed off poi5 i55) 5)[auv uv1] 1] (poi_ i_valve_ e_tu turn rned ed on poi3 i35) 5)[auv uv2] 2] (poi_ i_ro rock_analysis is poi4 i40) 0)[auv uv2] 2] (poi_soil_analysis poi34)[auv2] …
The Decentralis lised Het eterogeneous Robots Task All llocator (DHRTA) module le allo llocates mis ission go goals ls to to a fleet of
geneous AU AUVs and dis istri ributes the go goals ls in in a dece decent ntralis lised manne ner.
DHRTA+TP improve ves goal al di distr trib ibutio tion n and and overa verall ll comple lexity ity of the he global l plan an.
Optim timis ises the he use use of robots and and resou esources.
HRTA-TP TP gen genera rates the the first so solv lvable le pla lan in in sho short rter ti time perio eriod than than ben enchmark pla lanners rs (l (left eft to top).
The makespan resu esult lts (l (lef eft bottom) are si simila ilar to to the the value lues obtain ined by by the the benc enchmark pla lann nners.
TP strategy outperf rforms the he cen entralis lised approach, achie ievin ing the he hig ighest number of
ls du durin ing the the miss ssion for all goa goal set sets.
Yaniel Carreno Èric Pairet Yvan Petillot Ron Petrick