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Blog 2018-08-08T13:56:04+00:00

Mission Planning for Mobile Robots with Probabilistic Guarantees

Consider an office robot that must execute a range of tasks such as guiding visitors to offices; checking whether fire exits are clear; carrying and delivering items as requested by office users; and making announcements (“staff meeting in 10 minutes!”). A crucial requirement for such a robot is being able to be in the right place, at the right time. One strand of research in the GOALS Lab addresses mission planning techniques for robots in this context. We have considered long term (weeks to months) deployments of mobile service robots in human populated environments, and the use of probabilistic model checking techniques to generate mobile robot policies with formal performance guarantees. Such guarantees typically include notions such as safety, robustness and efficiency. Safety means robot behaviour must not reach “bad” situations (e.g., colliding with something, driving down steps). Robustness means systems must be able to cope with, and reason about, uncertainties and disturbances during execution. These execution-time variations have different origins, such as the robot’s inaccurate sensors and actuators, or the presence of humans in the environment. Efficiency means the system should strive to optimise a meaningful metric of performance, such as system throughput. These notions can be encoded in high level formalisms, such as temporal logics. In order to provide probabilistic guarantees over a robot's mission plans, we have based our approach in an underlying topological map discretisation of the environment. A topological map is drawn over [...]

By | September 26th, 2018|Categories: ORI Blog|Comments Off on Mission Planning for Mobile Robots with Probabilistic Guarantees
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