Solving Hierarchical Auctions with HTN Planning

Antoine Milot (1, 2, 3) , Estelle Chauveau (1) , Simon Lacroix (3) , Charles Lesire (2)

1 Naval Group
2 DTIS, ONERA, Université de Toulouse [Toulouse]
3 LAAS-RIS - Équipe Robotique et InteractionS

This paper presents a preliminary approach to solve the Multi-Robot Task Allocation problem through hierarchical auctions combined with the use of HTN planning. We present the global approach and the challenges arisen by partiallyordered HTNs through some examples. We finally outline some options to integrate such constraints in the allocation scheme.

Domaines: Robotique [cs.RO]

Antoine Milot, Estelle Chauveau, Simon Lacroix, Charles Lesire. Solving Hierarchical Auctions with HTN Planning. 4th ICAPS workshop on Hierarchical Planning (HPlan), Aug 2021, Guangzhou, China. ⟨hal-03289854v1⟩