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

  • Francesco Leofante
  • Erika Ábrahám
  • Tim Niemueller
  • Gerhard Lakemeyer
  • Armando Tacchella
Article

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.

Keywords

Multi-robot systems Optimal task planning Planning as satisfiability Online execution Production logistics 

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Copyright information

© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Theory of Hybrid SystemsRWTH Aachen UniversityAachenGermany
  2. 2.Knowledge-Based SystemsRWTH Aachen UniversityAachenGermany
  3. 3.Università degli Studi di GenovaGenovaItaly

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