Online Connectivity-aware Dynamic Deployment for Heterogeneous Multi-Robot Systems

by   Chendi Lin, et al.

In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The heterogeneity of the system is characterized by various categories of units and each robot carries different numbers of units per category representing heterogeneous capabilities. Every task area with different importance demands a total number of units contributed by all of the robots within its area. Moreover, we assume the importance and the total number of units requested from each task area is initially unknown. The robots need first to explore, i.e., reach those areas, and then be allocated to the tasks so to fulfill the requirements. The multi-robot distribution problem is formulated as designing controllers to distribute the robots that maximize the overall task fulfillment while minimizing the traveling costs in presence of connectivity constraints. We propose a novel connectivity-aware multi-robot redistribution approach that accounts for dynamic task allocation and connectivity maintenance for a heterogeneous robot team. Such an approach could generate sub-optimal robot controllers so that the amount of total unfulfilled requirements of the tasks weighted by their importance is minimized and robots stay connected at all times. Simulation and numerical results are provided to demonstrate the effectiveness of the proposed approaches.


Behavior Mixing with Minimum Global and Subgroup Connectivity Maintenance for Large-Scale Multi-Robot Systems

In many cases the multi-robot systems are desired to execute simultaneou...

A Framework for Autonomous Robot Deployment with Perfect Demand Satisfaction using Virtual Forces

In many applications, robots autonomous deployment is preferable and som...

Desperate Times Call for Desperate Measures: Towards Risk-Adaptive Task Allocation

Multi-robot task allocation (MRTA) problems involve optimizing the alloc...

A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems

In the context of heterogeneous multi-robot teams deployed for executing...

Integer Programming for Multi-Robot Planning: A Column Generation Approach

We consider the problem of coordinating a fleet of robots in a warehouse...

A Reinforcement Learning Framework for Sequencing Multi-Robot Behaviors

Given a list of behaviors and associated parameterized controllers for s...

Simultaneous Deployment and Tracking Multi-Robot Strategies with Connectivity Maintenance

Multi robot teams composed by ground and aerial vehicles have gained att...