Temporal coordination under uncertainty: initial results for the two agents case

Abstract

We focus on the problem of decentralized planning and coordination for two heterogeneous autonomous agents, having a common mission in an uncertain environment. For example, we consider a helicopter UAV and a ground rover cooperating in the exploration of a dangerous zone where communication is limited, which forces decentralization of planning. After proposing a framework for decentralized planning, we underline the need for a planner under uncertainty taking continuous time into account in time-dependent problems and present initial results on temporal planning under uncertainty.