Distributed Mission Planning of Complex Tasks for Heterogeneous
Multi-Robot Teams
- URL: http://arxiv.org/abs/2109.10106v1
- Date: Tue, 21 Sep 2021 11:36:11 GMT
- Title: Distributed Mission Planning of Complex Tasks for Heterogeneous
Multi-Robot Teams
- Authors: Barbara Arbanas Ferreira, Tamara Petrovi\'c and Stjepan Bogdan
- Abstract summary: We propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams.
The proposed approach involves a multi-objective search of the mission, represented as a hierarchical tree that defines the mission goal.
We demonstrate the method's ability to adapt the planning strategy depending on the available robots and the given optimization criteria.
- Score: 2.329625852490423
- License: http://creativecommons.org/licenses/by-nc-nd/4.0/
- Abstract: In this paper, we propose a distributed multi-stage optimization method for
planning complex missions for heterogeneous multi-robot teams. This class of
problems involves tasks that can be executed in different ways and are
associated with cross-schedule dependencies that constrain the schedules of the
different robots in the system. The proposed approach involves a
multi-objective heuristic search of the mission, represented as a hierarchical
tree that defines the mission goal. This procedure outputs several favorable
ways to fulfill the mission, which directly feed into the next stage of the
method. We propose a distributed metaheuristic based on evolutionary
computation to allocate tasks and generate schedules for the set of chosen
decompositions. The method is evaluated in a simulation setup of an automated
greenhouse use case, where we demonstrate the method's ability to adapt the
planning strategy depending on the available robots and the given optimization
criteria.
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