Task Allocation and Motion Planning in Dynamic, Cluttered Environments via CBBA and Graphs of Convex Sets

• URL: http://arxiv.org/abs/2606.18516v1
• Date: Tue, 16 Jun 2026 22:14:15 GMT
• Title: Task Allocation and Motion Planning in Dynamic, Cluttered Environments via CBBA and Graphs of Convex Sets
• Abstract summary: Multi-agent task planning in dynamic environments requires assigning tasks to agents while simultaneously determining safe, time-efficient trajectories through the environment.<n>This paper presents a solution, which combines Graphs of Convex Sets for trajectory optimization with the Consensus-Based Bundle Algorithm (CBBA) for distributed task allocation.<n>We then connect allocation and planning to allow the agents to avoid collisions in the 3D+time configuration space and provide accurate time estimates for task completion.
• Score: 1.0323063834827415
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Multi-agent task planning in cluttered, dynamic environments requires assigning tasks to agents while simultaneously determining safe, time-efficient trajectories through the environment. When tasks are dynamic, such as rendezvous objectives, allocation decisions depend not only on which agent is best suited for a task, but also on when and where that task can be reached. This paper presents a solution to this problem, which combines Graphs of Convex Sets (GCS) for trajectory optimization with the Consensus-Based Bundle Algorithm (CBBA) for distributed task allocation. In our approach, GCS finds optimal trajectories through dynamic environments using a time-extended (3D+time) configuration space. At the same time, CBBA coordinates task assignments across agents, enabling informed decision-making in a moving environment. We then connect allocation and planning to allow the agents to avoid collisions in the 3D+time configuration space and provide accurate time estimates for task completion. We demonstrate the effectiveness of our approach in simulated cluttered environments with static and dynamic tasks.

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