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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