Task planning in robot groups for problems with implicitly defined scenarios based on finite-state automata technique

Manko, Sergey V.; Diane, Sekou A.K.; Lokhin, V. M.

doi:10.1109/scm.2017.7970581

Cited by 7 publications

(2 citation statements)

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“…In this paper we continue an approach that we presented in [2] and use a typical FSM control element for modeling a technological operation in the following form:…”

Section: Task Planningmentioning

confidence: 99%

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Design and development of a multi-robot system for blockage removal

2020

Robots in Human Life

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Experimental model of a multi-robot system for full-scale testing of automatic blockage analysis and removal tasks is developed. The system is composed of autonomous with the appropriate set of software for planning movements of the mobile platform and the on-board manipulator using visual feedback. We describe software and algorithmic tools for scheduling and distributing subtasks, as well as coordinating movements of the robots. Software for the strategic level of group control allows determining the stages of operations for grasping and transporting individual elements of the blockage, which were detected during preliminary exploration. A knowledge base on the stages and specifics of technological operations allows for correct processing of information and making appropriate decisions in the process of multi-robot system operation. Proposed action planning algorithms are built on the basis of the finite state machine theory. Experimental studies have proved the reality of the prospects for creating multi-agent systems based on autonomous robots for solving complex problems in conditions of uncertainty.

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“…In this paper we continue an approach that we presented in [2] and use a typical FSM control element for modeling a technological operation in the following form:…”

Section: Task Planningmentioning

confidence: 99%

“…Thus, [1] presents an approach based on finite state machine (FSM) technology for mission planning of a group of autonomous underwater vehicles. In [2], an algorithm for dynamic scenario formation based on the analysis of sensory data is presented.…”

Section: Introductionmentioning

confidence: 99%