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Finding optimal plans for multiple teams of robots through a mediator: A logic-based approach

Published online by Cambridge University Press:  25 September 2013

ESRA ERDEM ,
VOLKAN PATOGLU ,
ZEYNEP G. SARIBATUR ,
PETER SCHÜLLER  and
TANSEL URAS
ESRA ERDEM
Affiliation:
Faculty of Engineering and Natural Sciences, Sabancı University, İstanbul, Turkey
VOLKAN PATOGLU
Affiliation:
Faculty of Engineering and Natural Sciences, Sabancı University, İstanbul, Turkey
ZEYNEP G. SARIBATUR
Affiliation:
Faculty of Engineering and Natural Sciences, Sabancı University, İstanbul, Turkey
PETER SCHÜLLER
Affiliation:
Faculty of Engineering and Natural Sciences, Sabancı University, İstanbul, Turkey
TANSEL URAS
Affiliation:
Department of Computer Science, University of Southern California, Los Angeles, USA
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Abstract

We study the problem of finding optimal plans for multiple teams of robots through a mediator, where each team is given a task to complete in its workspace on its own and where teams are allowed to transfer robots between each other, subject to the following constraints: 1) teams (and the mediator) do not know about each other's workspace or tasks (e.g., for privacy purposes); 2) every team can lend or borrow robots, but not both (e.g., transportation/calibration of robots between/for different workspaces is usually costly). We present a mathematical definition of this problem and analyze its computational complexity. We introduce a novel, logic-based method to solve this problem, utilizing action languages and answer set programming for representation, and the state-of-the-art ASP solvers for reasoning. We show the applicability and usefulness of our approach by experiments on various scenarios of responsive and energy-efficient cognitive factories.

Keywords

answer set programmingdecoupled planningcognitive robotics
Type
Regular Papers
Information
Theory and Practice of Logic Programming , Volume 13 , Special Issue 4-5: 29th International Conference on Logic Programming , July 2013 , pp. 831 - 846
Copyright
Copyright © 2013 [ESRA ERDEM, VOLKAN PATOGLU, ZEYNEP G. SARIBATUR, PETER SCHÜLLER and TANSEL URAS] 

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