Optimal Sequential Stochastic Deployment of Multiple Passenger Robots

@article{Lee2021OptimalSS,
  title={Optimal Sequential Stochastic Deployment of Multiple Passenger Robots},
  author={Chris Yu Hsuan Lee and Graeme Best and Geoffrey A. Hollinger},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2021},
  pages={8934-8940}
}
We present a new algorithm for deploying passenger robots in marsupial robot systems. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long mission duration, and at least one passenger robot (e.g., a short-duration aerial vehicle) transported by the carrier. We optimize the performance of passenger robot deployment by proposing an algorithm that reasons over uncertainty by exploiting information about the prior probability… 
1 Citations

Figures from this paper

Stochastic Assignment for Deploying Multiple Marsupial Robots
TLDR
This work proposes a centralized heuristic search algorithm for the multiple-carrier robot deployment problem that combines Monte Carlo Tree Search with a dynamic programming-based solution to the Sequential Stochastic Assignment Problem as a rollout action-selection policy.

References

SHOWING 1-10 OF 37 REFERENCES
Optimal Deployment of Multiple Passenger Robots using Sequential Stochastic Assignment
We present an informed passenger robot deployment strategy for marsupial robots. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long
Coordinating heterogeneous teams of robots using temporal symbolic planning
TLDR
The results show that this approach outperforms ad-hoc extensions of state-of-the-art cost-based coordination methods and that the approach is able to efficiently coordinate teams of heterogeneous robots and to consider symbolic actions.
Path Planning With Spatiotemporal Optimal Stopping for Stochastic Mission Monitoring
TLDR
This work considers an optimal stopping formulation of the mission monitoring problem, in which a monitor vehicle must remain in close proximity to an autonomous robot that stochastically follows a predicted trajectory, and proposes a resolution-complete algorithm that runs in a polynomial time.
Planning Paths for Package Delivery in Heterogeneous Multirobot Teams
TLDR
This paper addresses the task scheduling and path planning problem for a team of cooperating vehicles performing autonomous deliveries in urban environments and proposes two additional algorithms, based on enumeration and a reduction to the traveling salesman problem, for this special case.
Marsupial teams of robots: deployment of miniature robots for swarm exploration under communication constraints
TLDR
This paper compares two autonomous and realistic marsupial strategies for initial deployment in unknown scenarios, in the context of swarm exploration: Random and Extended Spiral of Theodorus.
Nested marsupial robotic system for search and sampling in increasingly constrained environments
TLDR
A key contribution of the work is the application of a unified algorithmic approach to autonomous planning, control, and estimation supporting vision-based manipulation and non-GPS-based ground and aerial mobility, thus reducing algorithmic complexity across this capability set.
Marsupial-like mobile robot societies
TLDR
This poster defines the marsupial robot team concept and proposes a taxonomy of roles for each agent, and describes the team members (Human, Dispensing Agent, and Passenger Agents) in terms of the characteristics of more traditional agent societies.
Path planning for information acquisition and evasion using marsupial vehicles
TLDR
This paper considers a path planning problem with two marsupial vehicles (one carrier vehicle and one passenger vehicle that is deployed by the carrier vehicle) exploring a planar area and straight line travel for both vehicles is shown to be optimal.
Efficient multi-robot coverage of a known environment
TLDR
Two approximation heuristics for solving the multi-robot coverage problem with multiple robots are presented and results indicate that their approaches provide good coverage distribution between robots and minimize the workload per robot, meanwhile ensuring complete coverage of the area.
Sensor planning for a symbiotic UAV and UGV system for precision agriculture
TLDR
A method to identify points whose probability of being misclassified is above a threshold is presented and the problem of maximizing the number of such points visited by an UAV subject to its energy budget is studied.
...
1
2
3
4
...