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pRoPhEt MAS: Reactive Planning Engine for Multiagent Systems

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

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Abstract

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.

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Notes

  1. 1.

    http://www.robocup.org/robocup-soccer/middle-size.

  2. 2.

    www.robocup.org.

  3. 3.

    http://ipc.icaps-conference.org.

  4. 4.

    http://www.surveyor.com.

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Acknowledgments

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.

Author information

Authors and Affiliations

  1. Distributed Systems Group, University of Kassel, 34121, Kassel, Germany

    Daniel Saur & Kurt Geihs

Authors
  1. Daniel Saur
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  2. Kurt Geihs
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Corresponding author

Correspondence to Daniel Saur .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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Saur, D., Geihs, K. (2016). pRoPhEt MAS: Reactive Planning Engine for Multiagent Systems. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_12

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

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