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Workshop paper

Centralised High-Level Planning for a Robot Fleet, M. Crosby and R. Petrick, Workshop of the UK Planning and Scheduling Special Interest Group (PlanSIG 2014), 2014.

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Abstract

This paper describes an application of automated planning to the problem of computing and distributing goals, and initial action sequences (plans), to a fleet of factory robots using a centralised controller. The initial plans must be designed and distributed such that the total expected execution time is reduced. Whilst we found that existing decomposition-based approaches could find plans in the required time frames for this task, the returned plans were of low quality in terms of agent distribution. As a result, this paper introduces new methods for decompositional planning that output more balanced plans, whilst still retaining enough of the speed benefits of the original approach to meet our time constraints.