Authors:
Tamara Petrovic
;
Tomislav Haus
;
Barbara Arbanas
;
Matko Orsag
and
Stjepan Bogdan
Affiliation:
University of Zagreb and Faculty of Electrical Engineering and Computing, Croatia
Keyword(s):
Path Planning, Task Scheduling, UAV, UGV, Aerial Manipulation.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Autonomous Agents
;
Control and Supervision Systems
;
Distributed Control Systems
;
Formal Methods
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Planning and Scheduling
;
Robot Design, Development and Control
;
Robotics and Automation
;
Simulation and Modeling
;
Symbolic Systems
Abstract:
This paper presents the results of our efforts to build a heterogeneous robotic system capable of executing
complex disaster response and recovery tasks. We aim to explore high level task scheduling and mission
planning algorithms that enable various types of robots to cooperate together, utilizing each others strengths to
yield a symbiotic robotic system. In the proposed scenario, a ground vehicle and an aerial robot work together
to close a valve in a disaster stricken industrial environment. To that end we use TÆMS framework in order
to specify interrelationships between mission subtasks and develop an effective scheduling and coordination
mechanism, inspired by Generalized Partial Global Planning. We present simulation results with two different
outcomes that show cooperative capabilities of the system.