Heterogeneous Multi-Robot Graph Coverage with Proximity and Movement Constraints
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866929634918006784 |
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| author | Mutzari, Dolev Aumann, Yonatan Kraus, Sarit |
| author_facet | Mutzari, Dolev Aumann, Yonatan Kraus, Sarit |
| contents | Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the agents, or a blue agent must be adjacent to a red agent) and the movement (e.g., terrain traversability and material load capacity) of the robots. Such constraints naturally arise in many real-world applications, e.g. in search-and-rescue and maintenance operations. Given such a setting, the goal is to compute a covering tour of the graph with a minimum number of steps, and that adheres to the proximity and movement constraints. For this problem, our contributions are four: (i) a formal formulation of the problem, (ii) an exact algorithm that is FPT in F, d and tw, the set of robot formations that encode the proximity constraints, the maximum nodes degree, and the tree-width of the graph, respectively, (iii) for the case that the graph is a tree: a PTAS approximation scheme, that given an approximation parameter epsilon, produces a tour that is within a epsilon times error(||F||, d) of the optimal one, and the computation runs in time poly(n) times h(1/epsilon,||F||). (iv) for the case that the graph is a tree, with $k=3$ robots, and the constraint is that all agents are connected: a PTAS scheme with multiplicative approximation error of 1+O(epsilon), independent of the maximal degree d. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_10083 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Heterogeneous Multi-Robot Graph Coverage with Proximity and Movement Constraints Mutzari, Dolev Aumann, Yonatan Kraus, Sarit Multiagent Systems Robotics Multi-Robot Coverage problems have been extensively studied in robotics, planning and multi-agent systems. In this work, we consider the coverage problem when there are constraints on the proximity (e.g., maximum distance between the agents, or a blue agent must be adjacent to a red agent) and the movement (e.g., terrain traversability and material load capacity) of the robots. Such constraints naturally arise in many real-world applications, e.g. in search-and-rescue and maintenance operations. Given such a setting, the goal is to compute a covering tour of the graph with a minimum number of steps, and that adheres to the proximity and movement constraints. For this problem, our contributions are four: (i) a formal formulation of the problem, (ii) an exact algorithm that is FPT in F, d and tw, the set of robot formations that encode the proximity constraints, the maximum nodes degree, and the tree-width of the graph, respectively, (iii) for the case that the graph is a tree: a PTAS approximation scheme, that given an approximation parameter epsilon, produces a tour that is within a epsilon times error(||F||, d) of the optimal one, and the computation runs in time poly(n) times h(1/epsilon,||F||). (iv) for the case that the graph is a tree, with $k=3$ robots, and the constraint is that all agents are connected: a PTAS scheme with multiplicative approximation error of 1+O(epsilon), independent of the maximal degree d. |
| title | Heterogeneous Multi-Robot Graph Coverage with Proximity and Movement Constraints |
| topic | Multiagent Systems Robotics |
| url | https://arxiv.org/abs/2412.10083 |