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Autonomous Robots

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23-11-2017

Analyzing and improving multi-robot missions by using process mining

Authors: Juan Jesús Roldán, Miguel A. Olivares-Méndez, Jaime del Cerro, Antonio Barrientos

Published in: Autonomous Robots | Issue 6/2018

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Abstract

Multi-robot missions can be compared to industrial processes or public services in terms of complexity, agents and interactions. Process mining is an emerging discipline that involves process modeling, analysis and improvement through the information collected by event logs. Currently, this discipline is successfully used to analyze several types of processes, but is hardly applied in the context of robotics. This work proposes a systematic protocol for the application of process mining to analyze and improve multi-robot missions. As an example, this protocol is applied to a scenario of fire surveillance and extinguishing with a fleet of UAVs. The results show the potential of process mining in the analysis of multi-robot missions and the detection of problems such as bottlenecks and inefficiencies. This work opens the way to an extensive use of these techniques in multi-robot missions, allowing the development of future systems for optimizing missions, allocating tasks to robots, detecting anomalies or supporting operator decisions.

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Title: Analyzing and improving multi-robot missions by using process mining
Authors: Juan Jesús Roldán
Miguel A. Olivares-Méndez
Jaime del Cerro
Antonio Barrientos
Publication date: 23-11-2017
Publisher: Springer US
Published in: Autonomous Robots / Issue 6/2018
Print ISSN: 0929-5593
Electronic ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-017-9686-1

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