Constraint Optimization Coordination Architecture for Search and Rescue Robotics.pdfVIP

Constraint Optimization Coordination Architecture for Search and Rescue Robotics Mary Koes, Illah Nourbakhsh, and Katia Sycara Carnegie Mellon Robotics Institute Pittsburgh, PA {mberna, illah, katia}@ Abstract— The dangerous and time sensitive nature of a I, we establish the objective for the team planning problem disaster area makes it an ideal application for robotic exploration. and present a first order logic constraint language for the Our long term goal is to enable humans, software agents, and search and rescue domain. In section II, we present COCOA, autonomous robots to work together to save lives. Existing work in coordination for search and rescue does not address the variety a Constraint Optimization Coordination Architecture, which of constraints that apply to the problem. This paper provides an implements the team objective and constraint language while expressive language for specifying system constraints. We also enabling us to employ state-of-the-art optimization engines describe a coordination architecture capable of quickly finding like CPLEX [4] to solve the team planning problem. Since an optimal or near optimal solution to the combined problems of the problem is N P -hard, finding an optimal solution may take task allocation, scheduling, and path planning subject to system constraints. We address a perceived lack of benchmarks for this too long, particularly as robots must interleave planning and research area by establishing a repository open to the research execution due to the unc