论文标题
异构多机构系统的自主任务计划
Autonomous Task Planning for Heterogeneous Multi-Agent Systems
论文作者
论文摘要
本文为多代理系统的自动任务计划问题提供了解决方案。正式框架是基于具有$ε$转换的非确定有限自动机开发的，鉴于所涉及的代理的功能，约束和故障模式，系统的初始状态和任务规范，生成了满足系统约束和任务规范的最佳解决方案。所得解决方案保证是完整且最佳的；此外，提出了一种启发式解决方案，可以大大降低计算要求，同时放松完整性和最佳要求。构造的系统模型独立于初始条件和任务规范，减轻了重复昂贵的预处理周期以解决其他方案的需求，同时允许在现有的失败模式中纳入故障模式。提供了两个案例研究：一个简单的案例研究，以展示提出的方法的概念，并更详细地证明该方法的有效性和有效性。
This paper presents a solution to the automatic task planning problem for multi-agent systems. A formal framework is developed based on the Nondeterministic Finite Automata with $ε$-transitions, where given the capabilities, constraints and failure modes of the agents involved, an initial state of the system and a task specification, an optimal solution is generated that satisfies the system constraints and the task specification. The resulting solution is guaranteed to be complete and optimal; moreover a heuristic solution that offers significant reduction of the computational requirements while relaxing the completeness and optimality requirements is proposed. The constructed system model is independent from the initial condition and the task specification, alleviating the need to repeat the costly pre-processing cycle for solving other scenarios, while allowing the incorporation of failure modes on-the-fly. Two case studies are provided: a simple one to showcase the concepts of the proposed methodology and a more elaborate one to demonstrate the effectiveness and validity of the methodology.
