A Constraint Optimization Framework for Fractured Robot Teams

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

View Publication

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.


@conference{Koes-2006-9464,
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)},
year = {2006},
month = {May},
keywords = {Multirobot coordination, communication failure, mixed integer linear programming},
} 2017-09-13T10:42:47-04:00