マルチタスクロボットへのマルチロボットタスク割り当て
Assigning Multi-Robot Tasks to Multitasking Robots
複数のタスクを同時に実行できるマルチタスクロボットに、マルチロボットタスクを割り当てるための新しい枠組みを提案し、物理的制約を考慮した重み付きMAX-SATへのコンパイルと貪欲ヒューリスティックを導入した。
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2. 先行研究と比べてどこがすごい？
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著者: Winston Smith, Yu Zhang
分類: cs.RO
原文アブストラクト
One simplifying assumption in existing and well-performing task allocation methods is that the robots are single-tasking: each robot operates on a single task at any given time. While this assumption is harmless to make in some situations, it can be inefficient or even infeasible in others. In this paper, we consider assigning multi-robot tasks to multitasking robots. The key contribution is a novel task allocation framework that incorporates the consideration of physical constraints introduced by multitasking. This is in contrast to the existing work where such constraints are largely ignored. After formulating the problem, we propose a compilation to weighted MAX-SAT, which allows us to leverage existing solvers for a solution. A more efficient greedy heuristic is then introduced. For evaluation, we first compare our methods with a modern baseline that is efficient for single-tasking robots to validate the benefits of multitasking in synthetic domains. Then, using a site-clearing scenario in simulation, we further illustrate the complex task interaction considered by the multitasking robots in our approach to demonstrate its performance. Finally, we demonstrate a physical experiment to show how multitasking enabled by our approach can benefit task efficiency in a realistic setting.
