I -Globe: Distributed Planning and Coordination of Mixed-initiative Activities ( thanks to ARO N62558-06-P-0353 ). I-GLOBE: Distributed Planning and Coordination of Team-oriented Activities in a Dynamic Environment Q3 review report. Anton ín Komenda, Ji ř í Vok ř ínek , Michal Pěchouček
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I-Globe: Distributed Planning and Coordination of
Mixed-initiative Activities (thanks to ARO N62558-06-P-0353)
Antonín Komenda, Jiří Vokřínek, Michal Pěchouček
Agent Technology Center, Gerstner Laboratory,Czech Technical University in Prague
Gerhard Wickler, Jeff Dalton, Austin Tate
Artificial Intelligence Applications InstituteSchool of Informatics, The University of Edinburgh
KSCO 2009, 31st March and 1st April 2009, Southampton, UK
The I-X architecture is used in I-Globe on several levels:
Planning problem in AGENTFLY is to find an optimal flight plan (sequence of elements defining the smooth path for the UAV) respecting all physical airplane constraints and fulfils specified mission (ordered sequence of way-points including optional time and cruise speed limits). The given flight plan can utilize only available airspace for the airplane (respects defined no-flight zones).
Implemented as two phases planning with backtracking:
Optimized airspace definition based on combination of transformed components:
Fast operation for:
Evaluation - Execution Time
Evaluation - Negotiation complexity