Open Access Open Access  Restricted Access Subscription or Fee Access

A Task Decomposition Using (HDec-POSMDPs) Approach for Multi-Robot Exploration and Fire Searching

A. El shenawy, K. M. Khalil, H. M. Harb


In this paper, a hierarchical control architecture for coordinated Multi-robot systems (MRS) task decomposi-tion is presented based on a hybrid decentralized Partially Observable Semi-Markov Decision Processes (HDec-POSMDPs) to perform the exploration of an unknown environment and search for the cluttered fire source in this environment. In this architecture, robots can make their own decisions according to their locally collected data with limited communication between a robot team. The overall task decomposes into multiple local sub-tasks, each sub-task is described as a set of regular languages. MRS are modeled as a discrete event system and each robot is represented by a deterministic finite state automaton model. The proposed approach is implemented and evaluated using software simulator. By using this architecture, the task execution time is minimized, the fire sources cluttered in an environment have been searched in an effective manner and the per-formance of MRS has been enhanced with respect to energy consumption and communication load; when they are used for exploring different environments as well as when they are used for detecting the sources of the fire and reporting about them.


Task assignment, Task decomposition, Multi-robot systems, HDec-POSMDPs, Finite state automata, Discrete event system, Exploration and Fire Searching, Cooperative Multi-robot.

Full Text:



  • There are currently no refbacks.

Disclaimer/Regarding indexing issue:

We have provided the online access of all issues and papers to the indexing agencies (as given on journal web site). It’s depend on indexing agencies when, how and what manner they can index or not. Hence, we like to inform that on the basis of earlier indexing, we can’t predict the today or future indexing policy of third party (i.e. indexing agencies) as they have right to discontinue any journal at any time without prior information to the journal. So, please neither sends any question nor expects any answer from us on the behalf of third party i.e. indexing agencies.Hence, we will not issue any certificate or letter for indexing issue. Our role is just to provide the online access to them. So we do properly this and one can visit indexing agencies website to get the authentic information.