Semantic Knowledge-Based Hierarchical Planning Approach for Multi-Robot Systems

Author:

Bae Sanghyeon1ORCID,Joo Sunghyeon1ORCID,Choi Junhyeon1ORCID,Pyo Jungwon1ORCID,Park Hyunjin1ORCID,Kuc Taeyong1ORCID

Affiliation:

1. Department of Electrical and Computer Engineering, College of Information and Communication Engineering, Sungkyunkwan University, Suwon 16419, Republic of Korea

Abstract

Multi-robot systems have been used in many fields by utilizing parallel working robots to perform missions by allocating tasks and cooperating. For task planning, multi-robot systems need to solve complex problems that simultaneously consider the movement of the robots and the influence of each robot. For this purpose, researchers have proposed various methods for modeling and planning multi-robot missions. In particular, some approaches have been presented for high-level task planning by introducing semantic knowledge, such as relationships and domain rules, for environmental factors. This paper proposes a semantic knowledge-based hierarchical planning approach for multi-robot systems. We extend the semantic knowledge by considering the influence and interaction between environmental elements in multi-robot systems. Relationship knowledge represents the space occupancy of each environmental element and the possession of objects. Additionally, the knowledge property is defined to express the hierarchical information of each space. Based on the suggested semantic knowledge, the task planner utilizes spatial hierarchy knowledge to group the robots and generate optimal task plans for each group. With this approach, our method efficiently plans complex missions while handling overlap and deadlock problems among the robots. The experiments verified the feasibility of the suggested semantic knowledge and demonstrated that the task planner could reduce the planning time in simulation environments.

Funder

Ministry of Trade, Industry and Energy

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering

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