Complex Tasks Allocation for Multi Robot Teams under Communication - PowerPoint PPT Presentation

Introduction Problem Formulation Approach Overview System description Conclusions Complex Tasks Allocation for Multi Robot Teams under Communication Constraints Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Robotics and InteractionS, LAAS-CNRS CAR 2010, Douai Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Outline Introduction 1 Problem Formulation 2 Approach Overview 3 System description 4 Conclusions 5 Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Outline Introduction 1 Problem Formulation 2 Approach Overview 3 System description 4 Plan Formalism Mission Manager Individual Planner and Specific Refiners Plan Manager Task Allocator Conclusions 5 Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Task Allocation (MRTA) Robots seek to maximal own profit by bidding for tasks. Individual profit helps the common good. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Task Allocation (MRTA) Robots seek to maximal own profit by bidding for tasks. Individual profit helps the common good. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Task Allocation (MRTA) Dynamic re-planning : plan evolution. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Task Allocation (MRTA) Dynamic re-planning : plan evolution. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Task Allocation (MRTA) Dynamic re-planning : new tasks arrival. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Task Allocation (MRTA) Dynamic re-planning : new tasks arrival. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Task Allocation (MRTA) Dynamic re-planning : robot’s failure. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Task Allocation (MRTA) Dynamic re-planning : robot’s failure. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Outline Introduction 1 Problem Formulation 2 Approach Overview 3 System description 4 Plan Formalism Mission Manager Individual Planner and Specific Refiners Plan Manager Task Allocator Conclusions 5 Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Extensions of our system 1 Complex task structure instead of simple tasks. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Extensions of our system 2 Communication constraints management over the teams or sub-teams : Opportunistic : dynamic cluster formation [W. Burgard]. Explicit Coordination : As inviolable constraints : DisCSP [Doniec], MANET-based task allocation [Mosteo and Montano]. As utility (embedded in cost function) in task allocation process : [Atay], [Rooker]. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Extension 1 : Complex task and Interleaved Alloc-Dec complex complex complex tasks tasks tasks decompose allocate Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Extension 1 : Complex task and Interleaved Alloc-Dec complex complex complex tasks tasks tasks allocate decompose Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Extension 1 : Complex task and Interleaved Alloc-Dec complex complex complex complex complex complex tasks tasks tasks tasks tasks tasks decompose allocate allocate decompose In-between approach. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Extension 1 : Complex task and Interleaved Alloc-Dec complex complex complex complex complex complex tasks tasks tasks tasks tasks tasks decompose allocate allocate decompose In-between approach. Expectations : Concurrent task decomposition on allocation yields more efficient solutions. Computationnally tractable. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Extension 2 : Communication constraints Spatio-temporal constraints are common in multi-robot teams : The limited-range communication imposes communication constraints over each robot or sub-team of robots. Task j Task i Task Allocation should handle spatial constraints (like com. range) Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Outline Introduction 1 Problem Formulation 2 Approach Overview 3 System description 4 Plan Formalism Mission Manager Individual Planner and Specific Refiners Plan Manager Task Allocator Conclusions 5 Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Planning Architecture Decisional Architecture Mission Manager Task Allocation Individual Plan Manager Planner Market-based Task Allocation centered Architecture. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Planning Architecture Decisional Architecture Mission Manager Task Allocation Individual Plan Manager Planner The task allocator is relying on : Specific refiners. Plan Manager. Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Conclusions Planning Architecture Decisional Architecture Mission Manager Task Allocation Individual Plan Manager Planner Feed-backs : loop over decompose and allocate Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Plan Formalism Conclusions Mission Manager Individual Planner and Specific Outline Introduction 1 Problem Formulation 2 Approach Overview 3 System description 4 Plan Formalism Mission Manager Individual Planner and Specific Refiners Plan Manager Task Allocator Conclusions 5 Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Plan Formalism Conclusions Mission Manager Individual Planner and Specific Plan formalism Plan formalism : tree-based task structure (TAEMS) : AND/OR branching : express different alternatives. Ordering constraints [Allen99] : express complex missions. Auctions over complex task structures : enhance mission efficiency. Perc(A) AND Perc(A1) Perc(A1) Perc(A2) AND OR Perc(B1) Perc(B2) Perc(C1) Perc(C2) Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Plan Formalism Conclusions Mission Manager Individual Planner and Specific How communication constraints influence Task Allocation MANET (Mobile Ad-hoc Network) infrastructure : monitor the communication link quality. MANET Link quality Base Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation

Introduction Problem Formulation Approach Overview System description Plan Formalism Conclusions Mission Manager Individual Planner and Specific How communication constraints influence Task Allocation MANET (Mobile Ad-hoc Network) infrastructure : monitor the communication link quality. The communication is handled in 3 ways : MANET Link quality Base Hung CAO, Simon LACROIX, Félix INGRAND, Rachid ALAMI Complex Task Allocation