Authors:
Aurélie Beynier
;
Laurent Jeanpierre
and
Abdel-Illah Mouaddib
Affiliation:
University of Caen, France
Keyword(s):
Decision Theory, Mobile robots, Autonomous Agents, Planning under Uncertainty.
Related
Ontology
Subjects/Areas/Topics:
Autonomous Agents
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
Abstract:
In this paper we develop an approach for planning under time and resource uncertainty with task dependencies. We follow the line of research described by (Bresina et al., 2002), overcoming limitations of existing approaches: they only handle simple time constraints and assume a simple model of durations and resources’ uncertainty.In many domains, such as space applications (rovers, satellites), these assumptions are invalid. Our approach considers temporal and resource constraints and fully deals with their uncertainty. From a mission graph, we build a MDP that can be optimally solved by dynamic programming, even for large mission graphs.