Long-Run Multi-Robot Planning under Uncertain Action Durations for Persistent Tasks
Carlos Azevedo,Bruno Lacerda,Nick Hawes,Pedro Lima,Carlos Azevedo,Bruno Lacerda,Nick Hawes,Pedro Lima
This paper presents an approach for multi-robot long-term planning under uncertainty over the duration of actions. The proposed methodology takes advantage of generalized stochastic Petri nets with rewards (GSPNR) to model multi-robot problems. A GSPNR allows for unified modeling of action selection, uncertainty on the duration of action execution, and for goal specification through the use of tra...
