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Robotics 2015, 4(4), 435-463; doi:10.3390/robotics4040435

IMPERA: Integrated Mission Planning for Multi-Robot Systems

Distributed Systems Group, University of Kassel, Wilhelmshöher Allee 73, Kassel 34121, Germany
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Author to whom correspondence should be addressed.
Academic Editor: Prithviraj (Raj) Dasgupta
Received: 17 July 2015 / Revised: 15 October 2015 / Accepted: 21 October 2015 / Published: 30 October 2015

Abstract

This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems). The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents). Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems) to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments. View Full-Text
Keywords: multi-agent systems; teamwork; coordination; planning; cooperative exploration; manipulation multi-agent systems; teamwork; coordination; planning; cooperative exploration; manipulation
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Saur, D.; Geihs, K. IMPERA: Integrated Mission Planning for Multi-Robot Systems. Robotics 2015, 4, 435-463.

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