人間とロボットのチームにおけるタスク割当・順序付け・スケジューリング問題の近似アルゴリズム
An Approximation Algorithm for a Task Allocation, Sequencing and Scheduling Problem involving a Human-Robot Team
人間とロボットの混成チームでのタスク割当・順序付け・スケジューリング問題に対し、人数と台数に依存する近似比を持つ近似アルゴリズムを提案し、計算実験で性能を検証した。
著者: Sai Krishna Hari, Abhishek Nayak, Sivakumar Rathinam
分類: cs.RO
原文アブストラクト
This article presents an approximation algorithm for a task allocation, sequencing and scheduling problem involving a team of human operators and robots. Specifically, we present an algorithm with an approximation ratio as a function of the number of human operators ($m$) and the number of robots ($k$) in the team. The approximation ratios are $\frac{7}{2} -\frac{5}{2k}$, $\frac{5}{2} -\frac{1}{k}$ and $\frac{7}{2} -\frac{1}{k}$ when $m=1$, $m\geq k\geq 2$ and $k>m\geq 2$ respectively. We also present computational results to corroborate the performance of the proposed approximation algorithm.
