Coordinating Robot Teams for Disaster Relief

To perform complex tasks, a team of robots requires both reactive and deliberative planning. For reactive control, a restricted variant of Linear Temporal Logic called General Reactivity(1) can be used to synthesize correct-by-construction controllers in polynomial time, but they often ignore time a...

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Bibliographic Details
Main Authors: Roberts, Mark, Apker, Thomas, Johnson, Benjamin, Auslander, Bryan, Wellman, Briana, Aha, David W
Format: Report
Language:English
Subjects:
COLLABORATIVE TECHNIQUES
COMPUTER COMMUNICATIONS
Cybernetics
DECISION MAKING
DISASTERS
Escape, Rescue and Survival
HUMANITARIAN ASSISTANCE
INFORMATION RETRIEVAL
Land and Riverine Navigation and Guidance
MAN COMPUTER INTERFACE
MULTISENSORS
OPERATORS(PERSONNEL)
PERFORMANCE(ENGINEERING)
REASONING
ROBOTS
SDP(SITUATED DECISION PROCESS)
SEMANTICS
SEMI-AUTONOMOUS VEHICLES
SITUATIONAL AWARENESS
VEHICLES
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Summary:To perform complex tasks, a team of robots requires both reactive and deliberative planning. For reactive control, a restricted variant of Linear Temporal Logic called General Reactivity(1) can be used to synthesize correct-by-construction controllers in polynomial time, but they often ignore time and resource constraints to maintain tractable synthesis. For deliberation, hierarchical planning can be used to reason about time and resources. However, the coordination of reactive control and deliberation remains a challenge, which we accomplish through a set of Coordination Variables. We integrate these two approaches in the Situated Decision Process (SDP), a system that we are developing. The SDP will allow an Operator to control a team of semi-autonomous vehicles performing information gathering tasks for Humanitarian Assistance / Disaster Relief operations. We demonstrate that the SDP responds to a dynamic, open world while ensuring that vehicles eventually perform their commanded actions. To be published in the Proceedings of the 28th Florida Artificial Intelligence Research Society Conference, held in Hollywood, FL, 18-20 May 2015, in press. AAAI Press.