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k-Survivability: Diversity and Survival of Expendable Robots


Abstract:

We define the k-survivability of a set of n paths as the probability that at least k out of n robots following those paths through a stochastic threat environment reach g...Show More

Abstract:

We define the k-survivability of a set of n paths as the probability that at least k out of n robots following those paths through a stochastic threat environment reach goals. High k-survivability sets tend to contain short and diverse paths.Finding sets of paths with maximum k-survivability is NP-hard. We design two algorithms: a complete algorithm that finds an optimal list of paths, and a heuristic method that finds paths with high k-survivability. Although computing k-survivability is expensive and this work is still preliminary, we believe that understanding the relationship between diversity and survival will yield new insights into multirobot motion planning.
Published in: IEEE Robotics and Automation Letters ( Volume: 1, Issue: 2, July 2016)
Page(s): 1164 - 1171
Date of Publication: 02 February 2016

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