Multi-robot task scheduling
Multi-robot task scheduling
复制标题
多机器人任务调度
DOI：
10.1109/icra.2013.6630992
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
L. Parker
中科院分区：
文献类型：
--
作者：
Y. Zhang;L. Parker
文献中对调度问题进行了广泛的研究。已经开发了许多算法来与不同类型的处理器和任务一起运行。在机器人领域，当将每个机器人视为处理器时，可以直接采用其中一些算法。然而，现有算法大多数只能处理单机器人任务，或者可以分为单机器人任务的多机器人任务。由于任务要求可能只是部分已知，并且可用的（异构）机器人可以动态变化，因此可能需要机器人紧密合作以共享不同的功能（即传感器和电机）。在这种情况下，考虑单个机器人的调度已经不够了，因为机器人需要在联盟级别工作。尽管存在一些也支持这些更复杂情况的算法，但它们并不代表可以方便地被各种多机器人系统适应的有效解决方案。在本文中，我们提出启发式方法来解决联盟级别的多机器人任务调度问题，隐藏了机器人规格的细节，从而允许直接合并这些启发式方法。这些启发式方法很容易实现，并且足够高效，可以实时运行。我们提供正式的分析和模拟结果来展示和比较它们的性能。
The scheduling problem has been studied extensively in the literature. Many algorithms have been developed to operate with different types of processors and tasks. In the robotics domain, when considering each robot as a processor, some of these algorithms can be directly adapted. However, most of the existing algorithms can only handle single-robot tasks, or multi-robot tasks that can be divided into single-robot tasks. As the task requirements may only be partially known, and the available (heterogeneous) robots can dynamically change, robots may be required to cooperate tightly to share different capabilities (i.e., sensors and motors). In such cases, considering scheduling for individual robots is no longer sufficient, since the robots need to work at the coalition level. Although there exist a few algorithms that also support these more complex cases, they do not represent efficient solutions that can be adapted by various multi-robot systems in a convenient manner. In this paper, we propose heuristics to address the multi-robot task scheduling problem at the coalition level, which hides the details of robot specifications, thus allowing these heuristics to be incorporated straightforwardly. These heuristics are easy to implement and efficient enough to run in real time. We provide formal analyses and simulation results to demonstrate and compare their performances.