Graceful degradation is a desirable trait in applications that require coverage with real, failure-prone robots. Thus paper uses methods informed by Reliability Engineering to study the Reliability-Aware Multi-Agent Coverage Path Planning (RA-MCPP) problem. An augmented stochastic framework is applied to evaluate a strategy's probability of mission completion. An augmented stochastic framework is applied to evaluate a strategy's probability of mission completion (PoC) on 3D lattice graph environments. A Genetic Algorithm optimisation approach is then proposed to find RA-MCPP path plans which maximise PoC. It is shown that the GA provides good solutions at reasonable runtimes, complementing previous approaches which focused on global optimality guarantees at the cost of massive computation, especially for medium and large environments.

Reliability-Aware Multi-UAV Coverage Path Planning using a Genetic Algorithm

Poster/Demo Session 4 

poster

AAMAS is the largest and most influential conference in the area of agents and multiagent systems, bringing together researchers and practitioners in all areas of agent technology and providing and internationally renowned high-profile forum for publishing and finding out about the latest developments in the field. AAMAS is the flagship conference of the non-profit International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS).  

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Mickey Li

2

Presentations

Reliability-Aware Multi-UAV Coverage Path Planning using a Genetic Algorithm

Reliability-Aware Multi-UAV Coverage Path Planning using a Genetic Algorithm