Case-Based Parameter Selection for Plans: Coordinating Autonomous Vehicle Teams

• Published in: Case-Based Reasoning Research and Development pp. 32 - 47
• Main Authors: Auslander, Bryan, Apker, Tom, Aha, David W.
• Format: Book Chapter
• Language: English
• Published: Cham Springer International Publishing 2014
• Series: Lecture Notes in Computer Science
• Subjects: Case-based reasoning; parameter selection; robotic control
• ISBN: 9783319112084; 3319112082
• ISSN: 0302-9743; 1611-3349
• DOI: 10.1007/978-3-319-11209-1_4

Executing complex plans for coordinating the behaviors of multiple heterogeneous agents often requires setting several parameters. For example, we are developing a decision aid for deploying a set of autonomous vehicles to perform situation assessment in a disaster relief operation. Our system, the Situated Decision Process (SDP), uses parameterized plans to coordinate these vehicles. However, no model exists for setting the values of these parameters. We describe a case-based reasoning solution for this problem and report on its utility in simulated scenarios, given a case library that represents only a small percentage of the problem space. We found that our agents, when executing plans generated using our case-based algorithm on problems with high uncertainty, performed significantly better than when executing plans using baseline approaches.