A distributed architecture for supervision of autonomous multi-robot missions

详细信息    查看全文

• 作者：Charles Lesire ; Guillaume Infantes ; Thibault Gateau ; Magali Barbier
• 关键词：Multi ; robot cooperation ; Autonomous vehicle ; Software architecture
• 刊名：Autonomous Robots
• 出版年：2016
• 出版时间：October 2016
• 年：2016
• 卷：40
• 期：7
• 页码：1343-1362
• 全文大小：3,176 KB
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Automation and Robotics
  Electronic and Computer Engineering
  Computer Imaging, Vision, Pattern Recognition and Graphics
  Mechanical Engineering
  Simulation and Modeling
  
• 出版者：Springer Netherlands
• ISSN：1573-7527
• 卷排序：40

文摘

Realizing long-term autonomous missions involving teams of heterogeneous robots is a challenge. It requires mechanisms to make robots react to disturbances or failures that will arise during the mission, while trying to successfully achieve the mission in cooperation. This paper presents HiDDeN, a distributed deliberative architecture that manages the execution of a hierarchical plan. This plan has initially been computed offline, ensuring some military operational constraints of the mission. Each robot’s supervisor then executes its own part of the plan, and reacts to failures using a hierarchical repair approach. This hierarchical repair has been designed with the sake of ensuring operational constraints, while reducing the need of communication between robots, as communication may be intermittent or even nonexistent when the robots operate in completely separate environments. HiDDeN’s robustness and scalability is evaluated with simulations. Experiments with an autonomous helicopter and an autonomous underwater vehicle have been realized and are presented as the defining point of our contribution.