Multiagent Task Allocation and Planning with Multi-Objective Requirements

摘要

In service robot applications, planning is often integrated with task allocation. Linear Temporal Logic (LTL) as an expressive high-level formalism is widely used for task specification, and allows for formalised restrictions on temporal sequences of tasks. In multiagent planning, a Multi-Objective Markov Decision Process extends the standard model with vector rewards capturing possibly conflicting planning objectives. Such objectives include the success rates of accomplishing individual tasks, and the cost budgets for individual agents. In this paper, we consider the problem of concurrently allocating LTL task sequences to a team of agents and calculating optimal task schedulers simultaneously, satisfying cost and probability thresholds. We reduce this problem to multi-objective scheduler synthesis for a team MDP structure, whose size is linear in the number of agents. Our preliminary experiment demonstrates the scalability of our approach.