Heterogeneous Multi-robot Task Allocation for Long-Endurance Missions in Dynamic Scenarios
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866915638422798336 |
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| author | Calvo, Alvaro Capitan, Jesus |
| author_facet | Calvo, Alvaro Capitan, Jesus |
| contents | We present a framework for Multi-Robot Task Allocation (MRTA) in heterogeneous teams performing long-endurance missions in dynamic scenarios. Given the limited battery of robots, especially for aerial vehicles, we allow for robot recharges and the possibility of fragmenting and/or relaying certain tasks. We also address tasks that must be performed by a coalition of robots in a coordinated manner. Given these features, we introduce a new class of heterogeneous MRTA problems which we analyze theoretically and optimally formulate as a Mixed-Integer Linear Program. We then contribute a heuristic algorithm to compute approximate solutions and integrate it into a mission planning and execution architecture capable of reacting to unexpected events by repairing or recomputing plans online. Our experimental results show the relevance of our newly formulated problem in a realistic use case for inspection with aerial robots. We assess the performance of our heuristic solver in comparison with other variants and with exact optimal solutions in small-scale scenarios. In addition, we evaluate the ability of our replanning framework to repair plans online. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_02062 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Heterogeneous Multi-robot Task Allocation for Long-Endurance Missions in Dynamic Scenarios Calvo, Alvaro Capitan, Jesus Robotics We present a framework for Multi-Robot Task Allocation (MRTA) in heterogeneous teams performing long-endurance missions in dynamic scenarios. Given the limited battery of robots, especially for aerial vehicles, we allow for robot recharges and the possibility of fragmenting and/or relaying certain tasks. We also address tasks that must be performed by a coalition of robots in a coordinated manner. Given these features, we introduce a new class of heterogeneous MRTA problems which we analyze theoretically and optimally formulate as a Mixed-Integer Linear Program. We then contribute a heuristic algorithm to compute approximate solutions and integrate it into a mission planning and execution architecture capable of reacting to unexpected events by repairing or recomputing plans online. Our experimental results show the relevance of our newly formulated problem in a realistic use case for inspection with aerial robots. We assess the performance of our heuristic solver in comparison with other variants and with exact optimal solutions in small-scale scenarios. In addition, we evaluate the ability of our replanning framework to repair plans online. |
| title | Heterogeneous Multi-robot Task Allocation for Long-Endurance Missions in Dynamic Scenarios |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.02062 |