Planning to fail: using reliability to improve multirobot task allocation

Stephen B. Stancliff; John M. Dolan

doi:10.1117/12.852593

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7 May 2010 Planning to fail: using reliability to improve multirobot task allocation

Stephen B. Stancliff, John M. Dolan

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Proceedings Volume 7693, Unattended Ground, Sea, and Air Sensor Technologies and Applications XII; 76930M (2010) https://doi.org/10.1117/12.852593
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

The reliability of individual robots influences the success of multirobot missions. When one robot fails, others must be retasked to complete the failed robot's tasks. This increases the failure likelihood for these other robots. Existing multirobot task allocation systems consider robot failures only after the fact, via replanning. In this paper we show that mission performance for multirobot missions can be improved by using knowledge of robot failure rates to inform the initial task allocation.

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Stephen B. Stancliff and John M. Dolan "Planning to fail: using reliability to improve multirobot task allocation", Proc. SPIE 7693, Unattended Ground, Sea, and Air Sensor Technologies and Applications XII, 76930M (7 May 2010); https://doi.org/10.1117/12.852593

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