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Thomas Robinson

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2

AAMAS Conference 2021 Conference Paper

Multiagent Task Allocation and Planning with Multi-Objective Requirements

  • Thomas Robinson
  • Guoxin Su
  • Minjie Zhang

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.

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IS Journal 2018 Journal Article

Autonomous Nuclear Waste Management

  • Jonathan M. Aitken
  • Sandor M. Veres
  • Affan Shaukat
  • Yang Gao
  • Elisa Cucco
  • Louise A. Dennis
  • Michael Fisher
  • Jeffrey A. Kuo

Redundant and nonoperational buildings at nuclear sites are decommissioned over a period of time. The process involves demolition of physical infrastructure resulting in large quantities of residual waste material. The resulting waste materials are packed into import containers to be delivered for postprocessing, containing either sealed canisters or assortments of miscellaneous objects. At present postprocessing does not happen within the United Kingdom. Sellafield Ltd. and National Nuclear Laboratory are developing a process for future operation so that upon an initial inspection, imported waste materials undergo two stages of postprocessing before being packed into export containers, namely sort and segregate or sort and disrupt. The postprocessing facility will remotely treat and export a wide range of wastes before downstream encapsulation. Certain wastes require additional treatment, such as disruption, before export to ensure suitability for long-term disposal. This paper focuses on the design, development, and demonstration of a reconfigurable rational agent-based robotic system that aims to highly automate these processes removing the need for close human supervision. The proposed system is being demonstrated through a downsized, lab-based setup incorporating a small-scale robotic arm, a time-of-flight camera, and high-level rational agent-based decision making and control framework.

Details DOI
v2026.09.13