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Solving dynamic controllability problem of multi-agent plans with uncertainty using mixed integer linear programming.

Casanova, Guillaume and Pralet, Cédric and Lesire, Charles and Vidal, Thierry Solving dynamic controllability problem of multi-agent plans with uncertainty using mixed integer linear programming. (2016) In: ECAI 2016, 29 August 2016 - 2 September 2016 (The Hague, Netherlands).

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Official URL: https://www.onera.fr/sites/default/files/u518/ECAI-2016-final.pdf

Abstract

Executing multi-agent missions requires managing the uncertainty about uncontrollable events. When communications are intermittent, it additionally requires for each agent to act only based on its local view of the problem, that is independently of events which are controlled or observed by the other agents. In this paper, we propose a new framework for dealing with such contexts, with a focus on mission plans involving temporal constraints. This framework, called Multi-agent Simple Temporal Network with Uncertainty (MaSTNU), is a combination between Multi-agent Simple Temporal Network (MaSTN) and Simple Temporal Network with Uncertainty (STNU).We define the dynamic controllability property for MaSTNU, and a method for computing offline valid execution strategies which are then dispatched between agents. This method is based on a mixed-integer linear programming formulation and can also be used to optimize criteria such as the temporal flexibility of multi-agent plans. 1

Item Type:Conference or Workshop Item (Paper)
HAL Id:hal-02487165
Audience (conference):International conference proceedings
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Institution:Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
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Deposited On:17 Dec 2019 14:06

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