Task Allocation using a Team of Robots
- URL: http://arxiv.org/abs/2207.09650v1
- Date: Wed, 20 Jul 2022 04:49:11 GMT
- Title: Task Allocation using a Team of Robots
- Authors: Haris Aziz, Arindam Pal, Ali Pourmiri, Fahimeh Ramezani, Brendan Sims
- Abstract summary: We present a general formulation of the task allocation problem that generalizes several versions that are well-studied.
Our formulation includes the states of robots, tasks, and the surrounding environment in which they operate.
We describe how the problem can vary depending on the feasibility constraints, objective functions, and the level of dynamically changing information.
- Score: 29.024300177453824
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: Task allocation using a team or coalition of robots is one of the most
important problems in robotics, computer science, operational research, and
artificial intelligence. In recent work, research has focused on handling
complex objectives and feasibility constraints amongst other variations of the
multi-robot task allocation problem. There are many examples of important
research progress in these directions. We present a general formulation of the
task allocation problem that generalizes several versions that are
well-studied. Our formulation includes the states of robots, tasks, and the
surrounding environment in which they operate. We describe how the problem can
vary depending on the feasibility constraints, objective functions, and the
level of dynamically changing information. In addition, we discuss existing
solution approaches for the problem including optimization-based approaches,
and market-based approaches.
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