pRoPhEt MAS: Reactive Planning Engine for Multiagent Systems
Autonomous mobile robots can substantially increase their effectiveness in dynamic environments using planning. This paper proposes a design for a soft real-time planning system for autonomous robots and offers a generic and modular approach to control a team of robots. Our system pRoPhEt MAS is based on ALICA (A Language for Interactive Cooperative Agents) and offers the coordination of team behaviors at runtime. In the evaluation scenario the system pRoPhEt MAS uses a state of the art planner “Fast Downward Planning System.” The evaluation focuses on planning during execution time. The team executes the best solutions found, selected by the heuristic, under certain time constraints. The results show that the execution with soft real-time planning is as good as sequential planning and execution. Hence, it offers the ability to react quickly in dynamic domains.
KeywordsMultiagent systems Dynamic domains Planning
The project IMPERA is funded by the German Space Agency (DLR, Grant number: 50RA1112) with federal funds of the Federal Ministry of Economics and Technology (BMWi) in accordance with the parliamentary resolution of the German Parliament.
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