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Planning for Decentralized Control of Multiple Robots Under Uncertainty

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Published on Feb 7, 2014

We developed an autonomous planner that generates controllers for each robot in noisy domains with communication limitations. This planner optimizes decisions for deciding where to go, what boxes to (attempt to) pick up and move as well as what, when and how to communicate. Specifically, a range of communication signals were given to the robots and the planner optimized their use and meaning to move all the boxes to the goal in the most efficient manner.

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