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Meta-Level Control Under Uncertainty for Handling Multiple Consumable Resources of Robots

Simon Le Gloannec 1, 2 Abdel-Illah Mouaddib 2 François Charpillet 1
1 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
2 Equipe MAD - Laboratoire GREYC - UMR6072
GREYC - Groupe de Recherche en Informatique, Image, Automatique et Instrumentation de Caen
Abstract : Most of works on planning under uncertainty in AI assumes rather simple action models, which do not consider multiple resources. This assumption is not reasonable for many applications such as planetary rovers or robotics which much cope with uncertainty about the duration of tasks, the energy, and the data storage. In this paper, we outline an approach to control the operation of an autonomous rover which operates under multiple resource constraints. We consider a directed acyclic graph of progressive processing tasks with multiple resources, for which an optimal policy is obtained by solving a corresponding Markov Decision Process (MDP). Computing an optimal policy for an MDP with multiple resources makes the search space large. We cannot calculate this optimal policy at run-time. The approach developed in this paper overcomes this difficulty by combining: decomposition of a large MDP into smaller ones, compression of the state space by exploiting characteristics of the multiple resources constraint, construction of local policies for the decomposed MDPs using state space discretization and resource compression, and recomposition of the local policies to obtain a near optimal global policy. Finally, we present first experimental results showing the feasibility and performances of our approach.
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https://hal.inria.fr/inria-00000413
Contributor : Simon Le Gloannec <>
Submitted on : Monday, October 10, 2005 - 10:29:32 AM
Last modification on : Friday, February 26, 2021 - 3:28:04 PM
Long-term archiving on: : Thursday, April 1, 2010 - 10:41:32 PM

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  • HAL Id : inria-00000413, version 1

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Simon Le Gloannec, Abdel-Illah Mouaddib, François Charpillet. Meta-Level Control Under Uncertainty for Handling Multiple Consumable Resources of Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2005, Aug 2005, Edmonton/Canada, Canada. ⟨inria-00000413⟩

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