Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics

Francesco Leofante (), Erika Ábrahám (), Tim Niemueller (), Gerhard Lakemeyer () and Armando Tacchella ()
Additional contact information
Francesco Leofante: RWTH Aachen University
Erika Ábrahám: RWTH Aachen University
Tim Niemueller: RWTH Aachen University
Gerhard Lakemeyer: RWTH Aachen University
Armando Tacchella: Università degli Studi di Genova

Information Systems Frontiers, 2019, vol. 21, issue 1, No 6, 87-107

Abstract: Abstract Model-based synthesis allows to generate plans to achieve high-level tasks while satisfying certain properties of interest. However, when such plans are executed on concrete systems, several modeling assumptions may be challenged, jeopardizing their real applicability. This paper presents an integrated system for generating, executing and monitoring optimal-by-construction plans for multi-robot systems. This system unites the power of Optimization Modulo Theories with the flexibility of an on-line executive, providing optimal solutions for high-level task planning, and runtime feedback on their feasibility. After presenting how our system orchestrates static and runtime components, we demonstrate its capabilities using the RoboCup Logistics League as testbed. We do not only present our final solution but also its chronological development, and draw some general observations for the development of OMT-based approaches.

Keywords: Multi-robot systems; Optimal task planning; Planning as satisfiability; Online execution; Production logistics (search for similar items in EconPapers)
Date: 2019
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
http://link.springer.com/10.1007/s10796-018-9858-3 Abstract (text/html)
Access to the full text of the articles in this series is restricted.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:spr:infosf:v:21:y:2019:i:1:d:10.1007_s10796-018-9858-3

Ordering information: This journal article can be ordered from
http://www.springer.com/journal/10796

DOI: 10.1007/s10796-018-9858-3

Access Statistics for this article

Information Systems Frontiers is currently edited by Ram Ramesh and Raghav Rao

More articles in Information Systems Frontiers from Springer
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().