Towards Proactive Replanning for Multi-Robot Teams

Brennan Peter Sellner and Reid Simmons
Proceedings of the 5th International Workshop on Planning and Scheduling in Space 2006, October, 2006.


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Abstract
Rather than blindly following a predetermined schedule, human workers often change tasks in order to assist a coworker experiencing difficulties. We are examining how this notion of ``helpful'' behavior can inspire new approaches to online plan execution and repair in multi-robot systems. Specifically, we are investigating proactive replanning, which attempts to predict problems or opportunities and adapt to them by shifting agents between executing tasks. By continuously predicting a task's remaining duration, a proactive replanner is able to accommodate upcoming problems or opportunities before they manifest themselves. One way to do so is by adding or removing agents to or from the various executing tasks, allowing the planner to balance a schedule in response to the realities of execution.

We have developed a proof-of-concept system that implements duration prediction and modification of existing tasks, yielding simulated executed makespans as much as 32% shorter than possible without these capabilities.


Keywords
planning, scheduling, proactive, duration prediction, live task modification

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center, Quality of Life Technology Center, and Field Robotics Center
Associated Lab(s) / Group(s): Human-Robot Interaction Group
Associated Project(s): TRESTLE: Autonomous Assembly by Teams of Coordinated Robots

Text Reference
Brennan Peter Sellner and Reid Simmons, "Towards Proactive Replanning for Multi-Robot Teams," Proceedings of the 5th International Workshop on Planning and Scheduling in Space 2006, October, 2006.

BibTeX Reference
@inproceedings{Sellner_2006_5605,
   author = "Brennan Peter Sellner and Reid Simmons",
   title = "Towards Proactive Replanning for Multi-Robot Teams",
   booktitle = "Proceedings of the 5th International Workshop on Planning and Scheduling in Space 2006",
   month = "October",
   year = "2006",
}