Most complex missions comprise of spatially separated tasks which have to be finished using teams of mobile robots. The main challenges for planning such missions are forming effective coalitions among available robots and assigning them to tasks in such a way that the expected mission completion time is minimized. Our model allows task execution by a fraction of the assigned team even when the rest of the team has not yet arrived at the task location. We also allow tasks to be interrupted and robots of assigned teams to be rescheduled from an unfinished task to another task. We describe five different heuristic algorithms to compute schedules for all robots assigned to the mission. We compare them and analyze the computational performance of the best performing strategy. We also show how to handle uncertainty that may arise during traveling or task execution and then study the effect of varying uncertainty on the minimization of mission completion time.
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ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 26–29, 2018
Quebec City, Quebec, Canada
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5180-7
PROCEEDINGS PAPER
Task Assignment and Scheduling for Mobile Robot Teams Available to Purchase
Shaurya Shriyam,
Shaurya Shriyam
University of Southern California, Los Angeles, CA
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Satyandra K. Gupta
Satyandra K. Gupta
University of Southern California, Los Angeles, CA
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Shaurya Shriyam
University of Southern California, Los Angeles, CA
Satyandra K. Gupta
University of Southern California, Los Angeles, CA
Paper No:
DETC2018-86007, V05AT07A075; 12 pages
Published Online:
November 2, 2018
Citation
Shriyam, S, & Gupta, SK. "Task Assignment and Scheduling for Mobile Robot Teams." Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5A: 42nd Mechanisms and Robotics Conference. Quebec City, Quebec, Canada. August 26–29, 2018. V05AT07A075. ASME. https://doi.org/10.1115/DETC2018-86007
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