ロボットチームによるタスク割り当て
Task Allocation using a Team of Robots
複数ロボットによるタスク割り当て問題を、ロボット・タスク・環境の状態を含む一般的な定式化で整理し、既存の解法を概観したサーベイ。
著者: Haris Aziz, Arindam Pal, Ali Pourmiri, Fahimeh Ramezani, Brendan Sims
分類: cs.RO, cs.AI, cs.DM, cs.MA
原文アブストラクト
Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives and feasibility constraints amongst other variations of the multi-robot task allocation problem. There are many examples of important research progress in these directions. We present a general formulation of the task allocation problem that generalizes several versions that are well-studied. Our formulation includes the states of robots, tasks, and the surrounding environment in which they operate. We describe how the problem can vary depending on the feasibility constraints, objective functions, and the level of dynamically changing information. In addition, we discuss existing solution approaches for the problem including optimization-based approaches, and market-based approaches.
