Interleaving Planning and Control of Mobiles Robots in Urban Environments Using Road-Map

  • Guillaume Lozenguez
  • Lounis Adouane
  • Aurélie Beynier
  • Abdel-Illah Mouaddib
  • Philippe Martinet
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)

Abstract

This paper presents a robot solution that allows to automatically reach a set of goals attributed to a robot. The challenge is to design autonomous robots assigned to perform missions without a predefined plan. We address the stochastic salesman problem where the goal is to visit a set of points of interest. A stochastic Road-Map is defined as a topological representation of an unstructured environment with uncertainty on the path achievement. The Road-Map allows us to split deliberation and reactive control. The proposed decision making uses a computation of Markov Decision Processes (MDPs) in order to plan all the reactive tasks to perform while there are goals not yet reached. Finally, from a brief explanation on how the approach could be extend to multi-robot missions, experiments in real conditions permit to evaluate the proposed architecture for multi-robot stochastic salesmen missions.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Guillaume Lozenguez
    • 1
    • 2
  • Lounis Adouane
    • 2
  • Aurélie Beynier
    • 3
  • Abdel-Illah Mouaddib
    • 1
  • Philippe Martinet
    • 2
    • 4
  1. 1.GREYCCaen CedexFrance
  2. 2.Institut PascalAubiere CedexFrance
  3. 3.LIP6, University Pierre & Marie CurieParisFrance
  4. 4.IRCCYNNantesFrance

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