Multi-Agent Planning for Coordinated Robotic Weed Killing

Wyatt McAllister, Denis Osipychev, Girish Chowdhary, Adam Davis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work presents a strategy for coordinated multi-agent weeding under conditions of partial environmental information. The goal of this work is to demonstrate the feasibility of coordination strategies for improving the weeding performance of autonomous agricultural robots. We show that, given a sufficient number of agents, the algorithm can successfully weed fields with various initial seed bank densities, even when multiple days are allowed to elapse before weeding commences. Furthermore, the use of coordination between agents is demonstrated to strongly improve system performance as the number of agents increases, enabling the system to eliminate all the weeds in the field, as in the case of full environmental information, when the planner without coordination failed to do so. As a domain to test our algorithms, we have developed an open source simulation environment, Weed World, which allows real-time visualization of coordinated weeding policies, and includes realistic weed generation. In this work, experiments are conducted to determine the required number of agents and their required transit speed, for given initial seed bank densities and varying allowed days before the start of the weeding process.

Original languageEnglish (US)
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7955-7960
Number of pages6
ISBN (Electronic)9781538680940
DOIs
StatePublished - Dec 27 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period10/1/1810/5/18

Fingerprint

Robotics
Planning
Visualization
Robots
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

McAllister, W., Osipychev, D., Chowdhary, G., & Davis, A. (2018). Multi-Agent Planning for Coordinated Robotic Weed Killing. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 7955-7960). [8593429] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8593429

Multi-Agent Planning for Coordinated Robotic Weed Killing. / McAllister, Wyatt; Osipychev, Denis; Chowdhary, Girish; Davis, Adam.

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 7955-7960 8593429 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

McAllister, W, Osipychev, D, Chowdhary, G & Davis, A 2018, Multi-Agent Planning for Coordinated Robotic Weed Killing. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8593429, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 7955-7960, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 10/1/18. https://doi.org/10.1109/IROS.2018.8593429
McAllister W, Osipychev D, Chowdhary G, Davis A. Multi-Agent Planning for Coordinated Robotic Weed Killing. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 7955-7960. 8593429. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2018.8593429
McAllister, Wyatt ; Osipychev, Denis ; Chowdhary, Girish ; Davis, Adam. / Multi-Agent Planning for Coordinated Robotic Weed Killing. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 7955-7960 (IEEE International Conference on Intelligent Robots and Systems).
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