A comprehensive taxonomy for multi-robot task allocation
A comprehensive taxonomy for multi-robot task allocation
复制标题
DOI：
10.1177/0278364913496484
复制
发表时间：
2013-10-01
影响因子：
9.2
通讯作者：
Dias, M. Bernardine
中科院分区：
文献类型：
--
作者：
Korsah, G. Ayorkor;Stentz, Anthony;Dias, M. Bernardine
任务分配是许多多机器人系统的一个重要方面。多机器人任务分配（MRTA）问题的特点和复杂性取决于所考虑的特定领域的要求。这些问题的范围可以从那些涉及到一个同质团队的成员之间的简单的，独立的任务的瞬时分配，到那些需要复杂的相互关联的多步任务的时间延长调度的异质团队成员相关的几个约束。目前广泛使用的多机器人系统任务分配分类法是针对独立任务的问题而设计的，不处理具有相关效用和约束的问题。虽然该分类法是对MRTA文献的突破性贡献，但对MRTA近期工作的调查显示，由于考虑中的现实MRTA问题中相互关联的实用程序和约束的重要性日益增加，它不再是一个足够的分类法。因此，在本文中，我们提出了一个新的，全面的分类，iTax，明确考虑到相关的公用事业和约束的问题。我们的分类映射类别的MRTA问题，现有的数学模型，从组合优化和运筹学，因此得出了重要的相似之处，机器人和这些领域。
Task allocation is an important aspect of many multi-robot systems. The features and complexity of multi-robot task allocation (MRTA) problems are dictated by the requirements of the particular domain under consideration. These problems can range from those involving instantaneous distribution of simple, independent tasks among members of a homogenous team, to those requiring the time-extended scheduling of complex interrelated multi-step tasks for members of a heterogenous team related by several constraints. The existing widely used taxonomy for task allocation in multi-robot systems was designed for problems with independent tasks and does not deal with problems with interrelated utilities and constraints. While that taxonomy was a ground-breaking contribution to the MRTA literature, a survey of recent work in MRTA reveals that it is no longer a sufficient taxonomy, due to the increasing importance of interrelated utilities and constraints in realistic MRTA problems under consideration. Thus, in this paper, we present a new, comprehensive taxonomy, iTax, that explicitly takes into consideration the issues of interrelated utilities and constraints. Our taxonomy maps categories of MRTA problems to existing mathematical models from combinatorial optimization and operations research, and hence draws important parallels between robotics and these fields.