Optimal Sequential Task Assignment and Path Finding for Multi-Agent
Robotic Assembly Planning
- URL: http://arxiv.org/abs/2006.08845v1
- Date: Tue, 16 Jun 2020 00:45:07 GMT
- Title: Optimal Sequential Task Assignment and Path Finding for Multi-Agent
Robotic Assembly Planning
- Authors: Kyle Brown, Oriana Peltzer, Martin A. Sehr, Mac Schwager, Mykel J.
Kochenderfer
- Abstract summary: We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints.
We propose a hierarchical algorithm for computing makespan-optimal solutions to the problem.
- Score: 42.38068056643171
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: We study the problem of sequential task assignment and collision-free routing
for large teams of robots in applications with inter-task precedence
constraints (e.g., task $A$ and task $B$ must both be completed before task $C$
may begin). Such problems commonly occur in assembly planning for robotic
manufacturing applications, in which sub-assemblies must be completed before
they can be combined to form the final product. We propose a hierarchical
algorithm for computing makespan-optimal solutions to the problem. The
algorithm is evaluated on a set of randomly generated problem instances where
robots must transport objects between stations in a "factory "grid world
environment. In addition, we demonstrate in high-fidelity simulation that the
output of our algorithm can be used to generate collision-free trajectories for
non-holonomic differential-drive robots.
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