A Hierarchical Deliberative Architecture Framework based on Goal Decomposition

Performing a complex autonomous mission with a multi-robot system requires to integrate several deliberative approaches to perform task allocation, optimization, and execution control. Implementing such a deliberative architecture is a complex task: it requires the developer to master the decision a...

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Bibliographic Details
Main Authors: Lesire, Charles, Bailon-Ruiz, Rafael, Barbier, Magali, Grand, Christophe
Format: Conference Proceeding
Language:English
Subjects:
Codes
Multi-robot systems
Observers
Planning
Resource management
Systems architecture
Task analysis
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Summary:Performing a complex autonomous mission with a multi-robot system requires to integrate several deliberative approaches to perform task allocation, optimization, and execution control. Implementing such a deliberative architecture is a complex task: it requires the developer to master the decision algorithms themselves (e.g., automated planning models), to have a good knowledge of the involved robotic platforms, and to think about how these elements will be assembled as a system architecture. We propose a framework to help designing such deliberative architectures. The framework relies on the concept of a hierarchical structure of actors, each actor managing goals with specific planning or optimization approaches, and delegating sub-goals to other actors.
ISSN:2153-0866
DOI:10.1109/IROS47612.2022.9981488