人間と複数ロボットのタスク割り当てのための混合整数線形計画法
A Mixed-Integer Linear Programming Formulation for Human Multi-Robot Task Allocation
人間と複数ロボットの協働作業において、作業時間・品質・負荷を最適化するタスク割り当てを混合整数線形計画問題として定式化し、人間の疲労変化に応じた再割り当てを可能にした研究。
著者: Martina Lippi, Alessandro Marino
分類: cs.RO
原文アブストラクト
In this work, we address a task allocation problem for human multi-robot settings. Given a set of tasks to perform, we formulate a general Mixed-Integer Linear Programming (MILP) problem aiming at minimizing the overall execution time while optimizing the quality of the executed tasks as well as human and robotic workload. Different skills of the agents, both human and robotic, are taken into account and human operators are enabled to either directly execute tasks or play supervisory roles; moreover, multiple manipulators can tightly collaborate if required to carry out a task. Finally, as realistic in human contexts, human parameters are assumed to vary over time, e.g., due to increasing human level of fatigue. Therefore, online monitoring is required and re-allocation is performed if needed. Simulations in a realistic scenario with two manipulators and a human operator performing an assembly task validate the effectiveness of the approach.
