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Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics

Author

Listed:
  • Francesco Leofante

    (RWTH Aachen University
    Università degli Studi di Genova)

  • Erika Ábrahám

    (RWTH Aachen University)

  • Tim Niemueller

    (RWTH Aachen University)

  • Gerhard Lakemeyer

    (RWTH Aachen University)

  • Armando Tacchella

    (Università degli Studi di Genova)

Abstract

Model-based synthesis allows to generate plans to achieve high-level tasks while satisfying certain properties of interest. However, when such plans are executed on concrete systems, several modeling assumptions may be challenged, jeopardizing their real applicability. This paper presents an integrated system for generating, executing and monitoring optimal-by-construction plans for multi-robot systems. This system unites the power of Optimization Modulo Theories with the flexibility of an on-line executive, providing optimal solutions for high-level task planning, and runtime feedback on their feasibility. After presenting how our system orchestrates static and runtime components, we demonstrate its capabilities using the RoboCup Logistics League as testbed. We do not only present our final solution but also its chronological development, and draw some general observations for the development of OMT-based approaches.

Suggested Citation

  • Francesco Leofante & Erika Ábrahám & Tim Niemueller & Gerhard Lakemeyer & Armando Tacchella, 2019. "Integrated Synthesis and Execution of Optimal Plans for Multi-Robot Systems in Logistics," Information Systems Frontiers, Springer, vol. 21(1), pages 87-107, February.
    • Handle: RePEc:spr:infosf:v:21:y:2019:i:1:d:10.1007_s10796-018-9858-3
    DOI: 10.1007/s10796-018-9858-3
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    Cited by:

    1. Thouraya Bouabana-Tebibel & Stuart H. Rubin & Lydia Bouzar-Benlabiod, 2019. "Guest Editorial: Recent Trends in Reuse and Integration," Information Systems Frontiers, Springer, vol. 21(1), pages 1-3, February.

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