最適化モジュロ理論による物流ロボット群の品質保証付き計画生成
On the Synthesis of Guaranteed-Quality Plans for Robot Fleets in Logistics Scenarios via Optimization Modulo Theories
物流現場での複数ロボットのスケジューリング問題を最適化モジュロ理論(OMT)で解き、ヒューリスティックではなく最適性を保証する計画を生成する手法を提案した。
著者: Francesco Leofante, Erika Ábrahám, Tim Niemueller, Gerhard Lakemeyer, Armando Tacchella
分類: cs.AI, cs.RO
原文アブストラクト
In manufacturing, the increasing involvement of autonomous robots in production processes poses new challenges on the production management. In this paper we report on the usage of Optimization Modulo Theories (OMT) to solve certain multi-robot scheduling problems in this area. Whereas currently existing methods are heuristic, our approach guarantees optimality for the computed solution. We do not only present our final method but also its chronological development, and draw some general observations for the development of OMT-based approaches.
