Towards Practical Multi-Robot Hybrid Tasks Allocation for Autonomous Cleaning

• URL: http://arxiv.org/abs/2303.06531v2
• Date: Tue, 4 Apr 2023 06:13:27 GMT
• Title: Towards Practical Multi-Robot Hybrid Tasks Allocation for Autonomous Cleaning
• Authors: Yabin Wang, Xiaopeng Hong, Zhiheng Ma, Tiedong Ma, Baoxing Qin, Zhou Su
• Abstract summary: We formulate multi-robot hybrid-task allocation under the uncertain cleaning environment as a robust optimization problem. We establish a dataset of emph100 instances made from floor plans, each of which has 2D manually-labeled images and a 3D model. We provide comprehensive results on the collected dataset using three traditional optimization approaches and a deep reinforcement learning-based solver.
• Score: 40.715435411065336
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning robots, without considering hybrid tasks in uncertain working environments. Moreover, there is a lack of datasets and benchmarks for relevant research. In this paper, to address these problems, we formulate multi-robot hybrid-task allocation under the uncertain cleaning environment as a robust optimization problem. Firstly, we propose a novel robust mixed-integer linear programming model with practical constraints including the task order constraint for different tasks and the ability constraints of hybrid robots. Secondly, we establish a dataset of \emph{100} instances made from floor plans, each of which has 2D manually-labeled images and a 3D model. Thirdly, we provide comprehensive results on the collected dataset using three traditional optimization approaches and a deep reinforcement learning-based solver. The evaluation results show that our solution meets the needs of multi-robot cleaning task allocation and the robust solver can protect the system from worst-case scenarios with little additional cost. The benchmark will be available at {https://github.com/iamwangyabin/Multi-robot-Cleaning-Task-Allocation}.

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