Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents
Fuente:
arXiv
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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866916358741032960 |
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| author | Chakravarty, Arjo Grey, Michael X. Muthugala, M. A. Viraj J. Elara, Mohan Rajesh |
| author_facet | Chakravarty, Arjo Grey, Michael X. Muthugala, M. A. Viraj J. Elara, Mohan Rajesh |
| contents | Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based optimization. We propose a theorem that allows optimal resource assignment problems to be solved via repeated application of a SAT solver. Additionally we show a way to encode continuous time ordering constraints using Conjunctive Normal Form (CNF). We benchmark our new algorithms and show that they can be used in an ad-hoc setting. We test our algorithms on a fleet of simulated and real world robots and show that the algorithms are able to handle real world situations. Our algorithms and test harnesses are opensource and build on Open-RMFs fleet management system. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_07942 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents Chakravarty, Arjo Grey, Michael X. Muthugala, M. A. Viraj J. Elara, Mohan Rajesh Robotics Multiagent Systems Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based optimization. We propose a theorem that allows optimal resource assignment problems to be solved via repeated application of a SAT solver. Additionally we show a way to encode continuous time ordering constraints using Conjunctive Normal Form (CNF). We benchmark our new algorithms and show that they can be used in an ad-hoc setting. We test our algorithms on a fleet of simulated and real world robots and show that the algorithms are able to handle real world situations. Our algorithms and test harnesses are opensource and build on Open-RMFs fleet management system. |
| title | Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2408.07942 |