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Coactive design of explainable agent-based task planning and deep reinforcement learning for human-UAVs teamwork

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Chinese Journal of Aeronautics 2020年第11期33卷 2930-2945页

作者： Chang WANG Lizhen WU Chao YAN Zhichao WANG Han LONG Chao YU College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410073China College of Liberal Arts National University of Defense TechnologyChangsha 410073China School of Data and Computer Science Sun Yat-sen UniversityGuangzhou 510275China

Unmanned Aerial Vehicles(UAVs)are useful in dangerous and dynamic tasks such as search-and-rescue,forest surveillance,and anti-terrorist *** tasks can be solved better through the collaboration of multiple UAVs under human ***,it is still difficult for human to monitor,understand,predict and control the behaviors of the UAVs due to the task complexity as well as the black-box machine learning and planning algorithms being *** this paper,the coactive design method is adopted to analyze the cognitive capabilities required for the tasks and design the interdependencies among the heterogeneous teammates of UAVs or human for coherent ***,an agent-based task planner is proposed to automatically decompose a complex task into a sequence of explainable subtasks under constrains of resources,execution time,social rules and ***,a deep reinforcement learning approach is designed for the UAVs to learn optimal policies of a flocking behavior and a path planner that are easy for the human operator to understand and ***,a mixed-initiative action selection mechanism is used to evaluate the learned policies as well as the human’s *** results demonstrate the effectiveness of the proposed methods.

关键词： Coactive design Deep reinforcement learning Human-robot teamwork Mixed-initiative Multi-agent system task planning UAV

Hierarchical task planning for Power Line Flow Regulation

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 29-40页

作者： Chenxi Wang Youtian Du Yanhao Huang Yuanlin Chang Zihao Guo the Ministry of Education Key Lab for Intelligent Networks and Network Security Xi'an Jiaotong UniversityXi'an 713599China the State Key Laboratory of Power Grid Safety and Energy Conservation China Electric Power Research InstituteBeijing 100192China

The complexity and uncertainty in power systems cause great challenges to controlling power *** a popular data-driven technique,deep reinforcement learning(DRL)attracts attention in the control of power ***,DRL has some inherent drawbacks in terms of data efficiency and *** paper presents a novel hierarchical task planning(HTP)approach,bridging planning and DRL,to the task of power line flow ***,we introduce a threelevel task hierarchy to model the task and model the sequence of task units on each level as a task planning-Markov decision processes(TP-MDPs).Second,we model the task as a sequential decision-making problem and introduce a higher planner and a lower planner in HTP to handle different levels of task *** addition,we introduce a two-layer knowledge graph that can update dynamically during the planning procedure to assist *** results conducted on the IEEE 118-bus and IEEE 300-bus systems demonstrate our HTP approach outperforms proximal policy optimization,a state-of-the-art deep reinforcement learning(DRL)approach,improving efficiency by 26.16%and 6.86%on both systems.

关键词： Knowledge graph power line flow regulation reinforcement learning task planning

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in a steam generator

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Frontiers of Mechanical Engineering 2023年第2期18卷 161-175页

作者： Biying XU Xuehe ZHANG Yue OU Kuan ZHANG Zhenming XING Hegao CAI Jie ZHAO Jizhuang FAN State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Many heat transfer tubes are distributed on the tube plates of a steam generator that requires periodic inspection by *** inspection robots are usually involved in issues:Robots with manipulators need complicated installation due to their fixed base;tube mobile robots suffer from low running efficiency because of their structural *** there are thousands of tubes to be checked,task planning is essential to guarantee the precise,orderly,and efficient inspection *** in-service robots check the task tubes using row-by-row and column-bycolumn *** leads to unnecessary inspections,resulting in a long shutdown and affecting the regular operation of a nuclear power ***,this paper introduces the structure and control system of a dexterous robot and proposes a task planning *** method proceeds into three steps:task allocation,base position search,and sequence *** allocate the task regions,this method calculates the tool work matrix and proposes a criterion to evaluate a *** then all tasks contained in the sub-region are considered globally to search the base ***,we apply an improved ant colony algorithm for base sequence planning and determine the inspection orders according to the planned *** validated the optimized algorithm by conducting task planning experiments using our robot on a tube *** results show that the proposed method can accomplish full task coverage with few repetitive or redundant inspections and it increases the efficiency by 33.31% compared to the traditional planning algorithms.

关键词： steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection

Collaborative task planning for an internet based multi-operator multi-robot system

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Journal of Harbin Institute of Technology(New Series) 2005年第2期12卷 153-158页

作者：高胜赵杰蔡鹤皋 Robot Research Institute Harbin Institute of Technology Harbin 150001 China

In an Internet based multi-operator and multi-robot system (IMOMR), operators have to work collaboratively to overcome the constraints of space and time. Inherently, the activities among them can be defined as a computer-supported cooperative work (CSCW). As a practical application of CSCW, a collaborative task planning system (CTPS) for IMOMR is proposed in this paper on the basis of Petri nets. Its definition, components design, and concrete implementation are given in detail, respectively. As a result, a clear collaboration mechanism of multiple operators in an IMOMR is obtained to guarantee their task planning.

关键词： Internet multi-operator multi-robot CSCW task planning Petri nets precedence graph

Resource Mobility Aware Hybrid task planning in Space Information Networks

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Journal of Communications and Information Networks 2019年第4期4卷 107-116页

作者： Runzi Liu Yiting Zhu Yan Zhang Weihua Wu Di Zhou Kai Chi School of Information and Control Engineering Xi’an University of Architecture and TechnologyXi’anShaanxi 710055China The State Key Lab of ISN Xidian UniversityXi’anShaanxi 710071China Science and Technology on Communication Networks Laboratory CETC the 54th research instituteShijiazhuangHebei 050081China Electric Information Network Laboratory CETC the 20th research instituteXi’anShaanxi 710068China

In this paper,a resource mobility aware two-stage hybrid task planning algorithm is proposed to reduce the resource conflict between emergency tasks and the common tasks,so as to improve the overall performance of space information ***,in the common task planning stage,a resource fragment avoidance task planning algorithm is proposed,which reduces the contention between emergency tasks and the planned common tasks in the next stage by avoiding the generation of resource *** emergency tasks,we design a metric to quantify the revenue of the candidate resource combination of emergency tasks,which considers both the priority of the tasks and the impact on the planned common *** on this,a resource mobility aware emergency task planning algorithm is proposed,which strikes a good balance between improving the sum priority and avoiding disturbing the planned common ***,simulation results show that the proposed algorithm is superior to the existing algorithms in both the sum task priority and the task completion rate.

关键词： space information network task planning resource mobility

Study on DSM-based task planning of product cooperative development

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Journal of Pharmaceutical Analysis 2008年第1期20卷 38-42,65页

作者：蒋增强刘明周赵韩葛茂根郭嘉 School of Mechanical and Automotive Engineering Hefei University of Technology Department of Mechanical and Aerospace Engineering University of Missouri-Rolla Rolla MO 65409-4494 USA

The results of analyzing the managerial characteristics and complexity of product cooperative development suggest that task planning is an important aspect for process management of product cooperative development and the method for planning tasks should be able to model the dependency between tasks and iterations during the development process. In this paper, a DSM-based method and its corresponding optimization algorithms are developed. At first the coupled task sets and uncoupled task sets are identified, and the tasks are then optimized by the corresponding algorithms. The optimal tasks plan will reduce the development time and cost. Considering the practical requirements in real world, a Multilayer DSM is proposed, and its information communication techniques between DSM and traversing principle are described in details.

关键词： product cooperative development task planning design structure matrix multilayer DSM

Friendship-aware task planning in mobile crowdsourcing

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Frontiers of Information Technology & Electronic Engineering 2017年第1期18卷 107-121页

作者： Yuan LIANG Wei-feng LV Wen-jun WU Ke XU State Key Laboratory of Software Development Environment School of Computer ScienceBeihang UniversityBeijing 100191China

Recently, crowdsourcing platforms have attracted a number of citizens to perform a variety of location- specific tasks. However, most existing approaches consider the arrangement of a set of tasks for a set of crowd workers, while few consider crowd workers arriving in a dynamic manner. Therefore, how to arrange suitable location-specific tasks to a set of crowd workers such that the crowd workers obtain maximum satisfaction when arriving sequentially represents a challenge. To address the limitation of existing approaches, we first identify a more general and useful model that considers not only the arrangement of a set of tasks to a set of crowd workers, but also all the dynamic arrivals of all crowd workers. Then, we present an effective crowd-task model which is applied to offiine and online settings, respectively. To solve the problem in an offiine setting, we first observe the characteristics of task planning （CTP） and devise a CTP algorithm to solve the problem. We also propose an effective greedy method and integrated simulated annealing （ISA） techniques to improve the algorithm performance. To solve the problem in an online setting, we develop a greedy algorithm for task planning. Finally, we verify the effectiveness and efficiency of the proposed solutions through extensive experiments using real and synthetic datasets.

关键词： Mobile crowdsourcing task planning Greedy algorithms Simulated annealing

Multi-Agent Collaborative task planning with Uncertain task Requirements

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Journal of Beijing Institute of Technology 2024年第5期33卷 361-373页

作者： Jia Zhang Zexuan Jin Qichen Dong School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Laborary of Autonomous Intelligent Unmanned Systems Beijing Institute of Technol-ogyBeijing 100081China

In response to the uncertainty of information of the injured in post disaster situations,considering constraints such as random chance and the quantity of rescue resource,the split deliv-ery vehicle routing problem with stochastic demands(SDVRPSD)model and the multi-depot split delivery heterogeneous vehicle routing problem with stochastic demands(MDSDHVRPSD)model are established.A two-stage hybrid variable neighborhood tabu search algorithm is designed for unmanned vehicle task planning to minimize the path cost of rescue *** experiments show that the solution obtained by the algorithm can effectively reduce the rescue vehicle path cost and the rescue task completion time,with high optimization quality and certain portability.

关键词： multi-agent collaboration task planning vehicle routing problem stochastic demands

Human-Like task planning for a Dual-Arm Robot Based on Motion Primitives

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Human-Like Task Planning for a Dual-Arm Robot Based on Motio...