A Constraint Optimization Framework for Fractured Robot Teams

Mary Koes, Katia Sycara, and Illah Nourbakhsh
Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), May, 2006.


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Abstract
In dangerous and uncertain environments initial plans must be revised. Communication failures hamper this replanning. We introduce fractured subteams as a novel formalism for modeling breakdowns in communication. We present a hy- brid approach that employs distributed coordination mech- anisms to provide robustness to these communication break- downs and exploits opportunistic centralization. By mod- eling the problem as a mixed integer linear programming problem, we are able to apply constraint optimization tech- niques to efficiently find optimal or near optimal solutions to the difficult class of time critical tight coordination team planning problems. We then demonstrate that explicitly reasoning about communication failures through the incor- poration of selective disruption minimization can improve team performance.

Keywords
Multirobot coordination, communication failure, mixed integer linear programming

Notes
Sponsor: NSF
Associated Center(s) / Consortia: Center for Integrated Manfacturing Decision Systems
Associated Lab(s) / Group(s): Advanced Agent - Robotics Technology Lab
Number of pages: 3

Text Reference
Mary Koes, Katia Sycara, and Illah Nourbakhsh, "A Constraint Optimization Framework for Fractured Robot Teams," Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), May, 2006.

BibTeX Reference
@inproceedings{Koes_2006_5434,
   author = "Mary Koes and Katia Sycara and Illah Nourbakhsh",
   title = "A Constraint Optimization Framework for Fractured Robot Teams",
   booktitle = "Proceedings of the Fifth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS)",
   month = "May",
   year = "2006",
}