Resilient Fleet Management for Energy-Aware Intra-Factory Logistics
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arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866912018500419584 |
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| author | Goutham, Mithun Stockar, Stephanie |
| author_facet | Goutham, Mithun Stockar, Stephanie |
| contents | This paper presents a novel fleet management strategy for battery-powered robot fleets tasked with intra-factory logistics in an autonomous manufacturing facility. In this environment, repetitive material handling operations are subject to real-world uncertainties such as blocked passages, and equipment or robot malfunctions. In such cases, centralized approaches enhance resilience by immediately adjusting the task allocation between the robots. To overcome the computational expense, a two-step methodology is proposed where the nominal problem is solved a priori using a Monte Carlo Tree Search algorithm for task allocation, resulting in a nominal search tree. When a disruption occurs, the nominal search tree is rapidly updated a posteriori with costs to the new problem while simultaneously generating feasible solutions. Computational experiments prove the real-time capability of the proposed algorithm for various scenarios and compare it with the case where the search tree is not used and the decentralized approach that does not attempt task reassignment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_11034 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Resilient Fleet Management for Energy-Aware Intra-Factory Logistics Goutham, Mithun Stockar, Stephanie Robotics Multiagent Systems Systems and Control This paper presents a novel fleet management strategy for battery-powered robot fleets tasked with intra-factory logistics in an autonomous manufacturing facility. In this environment, repetitive material handling operations are subject to real-world uncertainties such as blocked passages, and equipment or robot malfunctions. In such cases, centralized approaches enhance resilience by immediately adjusting the task allocation between the robots. To overcome the computational expense, a two-step methodology is proposed where the nominal problem is solved a priori using a Monte Carlo Tree Search algorithm for task allocation, resulting in a nominal search tree. When a disruption occurs, the nominal search tree is rapidly updated a posteriori with costs to the new problem while simultaneously generating feasible solutions. Computational experiments prove the real-time capability of the proposed algorithm for various scenarios and compare it with the case where the search tree is not used and the decentralized approach that does not attempt task reassignment. |
| title | Resilient Fleet Management for Energy-Aware Intra-Factory Logistics |
| topic | Robotics Multiagent Systems Systems and Control |
| url | https://arxiv.org/abs/2403.11034 |