Next Article in Journal
Static Stability Analysis of a Planar Object Grasped by Multifingers with Three Joints
Previous Article in Journal
Performance of Very Small Robotic Fish Equipped with CMOS Camera
Previous Article in Special Issue
Multi-Robot Item Delivery and Foraging: Two Sides of a Coin
Open AccessArticle

IMPERA: Integrated Mission Planning for Multi-Robot Systems

Distributed Systems Group, University of Kassel, Wilhelmshöher Allee 73, Kassel 34121, Germany
Author to whom correspondence should be addressed.
Academic Editor: Prithviraj (Raj) Dasgupta
Robotics 2015, 4(4), 435-463;
Received: 17 July 2015 / Revised: 15 October 2015 / Accepted: 21 October 2015 / Published: 30 October 2015
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
Show Figures

Figure 1

MDPI and ACS Style

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

Show more citation formats Show less citations formats

Article Access Map by Country/Region

Only visits after 24 November 2015 are recorded.
Search more from Scilit
Back to TopTop