Affiliation:
1. Department of Electrical and Computer Engineering, University of Waterloo, Waterloo ON, N2L 3G1, Canada
Abstract
This paper focuses on decentralized task allocation and sequencing for multiple heterogeneous robots. Each task is defined as visiting a point in a subset of the robot configuration space — this definition captures a variety of tasks including inspection and servicing. The robots are heterogeneous in that they may be subject to different differential motion constraints. Our approach is to transform the problem into a multi-vehicle generalized traveling salesman problem (GTSP). To solve the GTSP, we propose a novel decentralized implementation of large-neighborhood search (LNS). Our solution approach leverages the GTSP insertion methods proposed in Fischetti et al. [A branch-and-cut algorithm for the symmetric generalized traveling salesman problem, Oper. Res. 45(3) (1997) 378–394]. to repeatedly remove and reinsert tasks from each robot path. Decentralization is achieved using combinatorial-auctions between the robots on tasks removed from robot’s path. We provide bounds on the length of the dynamically feasible robot paths produced by the insertion methods. We also show that the number of bids in each combinatorial auction, a crucial factor in the runtime, scales linearly with the number of tasks. Finally, we present extensive benchmarking results to characterize both solution quality and runtime, which show improvements over existing decentralized task allocation methods.
Funder
Natural Sciences and Engineering Research Council of Canada
Ontario Ministry of Research and Innovation
Publisher
World Scientific Pub Co Pte Lt
Subject
Control and Optimization,Aerospace Engineering,Automotive Engineering,Control and Systems Engineering
Cited by
24 articles.
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