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