Multi-Robot Task Allocation – Complexity and Approximation

03/23/2021
by   Haris Aziz, et al.
0

Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and Multi-Robot tasks Instantaneous Assignment (ST-MR-IA) setting where each task requires at least a certain number of robots and each robot can work on at most one task and incurs an operational cost for each task. Our aim is to consider a natural computational problem of allocating robots to complete the maximum number of tasks subject to budget constraints. We consider budget constraints of three different kinds: (1) total budget, (2) task budget, and (3) robot budget. We provide a detailed complexity analysis including results on approximations as well as polynomial-time algorithms for the general setting and important restricted settings.

READ FULL TEXT

page 1

page 2

page 3

page 4

03/20/2019

An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems

For a team of heterogeneous robots executing multiple tasks, we propose ...
03/11/2020

The Application of Market-based Multi-Robot Task Allocation to Ambulance Dispatch

Multi-Robot Task Allocation (MRTA) is the problem of distributing a set ...
02/03/2021

Task Planning on Stochastic Aisle Graphs for Precision Agriculture

This work addresses task planning under uncertainty for precision agricu...
12/31/2021

Energy-Aware Multi-Robot Task Allocation in Persistent Tasks

The applicability of the swarm robots to perform foraging tasks is inspi...
07/20/2022

Task Allocation using a Team of Robots

Task allocation using a team or coalition of robots is one of the most i...
05/08/2020

Multi-Robot Task Allocation and Scheduling Considering Cooperative Tasks and Precedence Constraints

In order to fully exploit the advantages inherent to cooperating heterog...
11/02/2020

Data-Driven Adaptive Task Allocation for Heterogeneous Multi-Robot Teams Using Robust Control Barrier Functions

Multi-robot task allocation is a ubiquitous problem in robotics due to i...