AAAI Publications, Twenty-Eighth AAAI Conference on Artificial Intelligence

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A Framework for Task Planning in Heterogeneous Multi Robot Systems Based on Robot Capabilities
Jennifer Buehler, Maurice Pagnucco

Last modified: 2014-06-21


In heterogeneous multi-robot teams, robustness and flexibility are increased by the diversity of the robots, each contributing different capabilities. Yet platform-independence is desirable when planning actions for the various robots. We propose a platform-independent model of robot capabilities which we use as a planning domain. We extend existing planning techniques to support two requirements: generating new objects during planning; and, required concurrency of actions due to data flow which can be cyclic. The first requires online action instantiation, the second a small extension of the Planning Domain Definition Language (PDDL): allowing predicates in continuous effects. We evaluate the planner on benchmark domains and present results on an example object transportation task in simulation.


Robotics; Multi Robot Systems; Planning and Scheduling; Robot Task Planning; Robot Capabilities

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