不確実な移動時間下での冗長ロボット割り当てフレームワーク
Redundant Robot Assignment on Graphs with Uncertain Edge Costs
移動時間が不確実なグラフ上で、冗長ロボットを活用して目的地での平均待ち時間を最小化する割り当て手法を提案し、多項式時間で準最適解を求める。
著者: Amanda Prorok
分類: cs.RO, cs.MA
原文アブストラクト
We provide a framework for the assignment of multiple robots to goal locations, when robot travel times are uncertain. Our premise is that time is the most valuable asset in the system. Hence, we make use of redundant robots to counter the effect of uncertainty and minimize the average waiting time at destinations. We apply our framework to transport networks represented as graphs, and consider uncertainty in the edge costs (i.e., travel time). Since solving the redundant assignment problem is strongly NP-hard, we exploit structural properties of our problem to propose a polynomial-time solution with provable sub-optimality bounds. Our method uses distributive aggregate functions, which allow us to efficiently (i.e., incrementally) compute the effective cost of assigning redundant robots. Experimental results on random graphs show that the deployment of redundant robots through our method reduces waiting times at goal locations, when edge traversals are uncertain.
