HYBRID REASONING FOR MULTIROBOT DRILL PLANNING IN OPENPIT MINES
Mansouri , Masoumeh
Andreasson , Henrik
Pecora , Federico
PrávaCreative Commons Attribution 4.0 International License
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Fleet automation often involves solving several strongly correlated sub-problems, including task allocation, motion planning, and coordination. Solutions need to account for very specific, domaindependent constraints. In addition, several aspects of the overall fleet management problem become known only online. We propose a method for solving the fleet-management problem grounded on a heuristically-guided search in the space of mutually feasible solutions to sub-problems. We focus on a mining application which requires online contingency handling and accommodating many domainspecific constraints. As contingencies occur, efficient reasoning is performed to adjust the plan online for the entire fleet.
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