HYBRID REASONING FOR MULTI-ROBOT DRILL PLANNING IN OPEN-PIT MINES

Authors

  • Masoumeh Mansouri Centre for Applied Autonomous Sensor Systems (AASS), Örebro University | SE-701 82 Örebro, Sweden
  • Henrik Andreasson Centre for Applied Autonomous Sensor Systems (AASS), Örebro University | SE-701 82 Örebro, Sweden
  • Federico Pecora

DOI:

https://doi.org/10.14311/APP.2016.56.0047

Keywords:

robot planning, multi-robot coordination, on-line reasoning

Abstract

Fleet automation often involves solving several strongly correlated sub-problems, including task allocation, motion planning, and coordination. Solutions need to account for very specific, domaindependent constraints. In addition, several aspects of the overall fleet management problem become known only online. We propose a method for solving the fleet-management problem grounded on a heuristically-guided search in the space of mutually feasible solutions to sub-problems. We focus on a mining application which requires online contingency handling and accommodating many domainspecific constraints. As contingencies occur, efficient reasoning is performed to adjust the plan online for the entire fleet.

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Published

2016-02-29

Issue

Vol. 56 No. 1 (2016)

Section

Articles

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How to Cite

Mansouri, M., Andreasson, H., & Pecora, F. (2016). HYBRID REASONING FOR MULTI-ROBOT DRILL PLANNING IN OPEN-PIT MINES. Acta Polytechnica, 56(1), 47-56. https://doi.org/10.14311/APP.2016.56.0047