Naslov
Distributed Mission Planning of Complex Tasks for Heterogeneous Multi-Robot Systems

Autori
Ferreira, Barbara Arbanas ; Petrovic, Tamara ; Bogdan, Stjepan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Skup
2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)

Mjesto i datum
Online ; Mexico City, Meksiko, 20.08.2023. - 24.08.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Multi-Robot Planning ; Task Allocation ; Task Scheduling ; Distributed Optimization

Sažetak
In this paper, we propose a distributed multistage optimization method for planning complex missions for heterogeneous multi-robot systems. This class of problems involves tasks that can be executed in different ways and are associated with cross- schedule dependencies that constrain the schedules of the different robots in the system. The proposed approach involves a multi-objective heuristic search of the mission, represented as a hierarchical tree that defines the mission goal. This procedure outputs several favorable ways to fulfill the mission, which directly feed into the next stage of the method. We utilize a distributed metaheuristic based on evolutionary computation to allocate tasks and generate schedules for the set of chosen decompositions. The solution is evaluated in a simulation setup of an automated greenhouse use case, where we demonstrate the system’s ability to adapt the planning strategy depending on the available robots and the given optimization criteria.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

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