Task assignment methodology of multiple tasks with order constraints for multiple robot system

在以往的多机器人研究中，尽管任务分配的重要性，但对于涉及“任务约束”的问题，任务分配方案的命题还没有对任务执行顺序施加一定的限制。在其他涉及任务约束的研究中，如车间作业调度，任务约束是由设计者给出的。我们解决的问题，机器人应该自己计算任务的限制，并应执行任务分配考虑到他们的限制。作为此类问题的一个例子，我们采用了多个可移动对象的重排任务。本研究主要解决以下问题：1.任务分配应考虑任务约束.任务限制应尽早计算。针对这些被试，我们得到了以下结果。通过对任务约束的分类，得到了任务约束的计算方法和考虑这些约束的任务分配方法.提高了任务约束计算过程的效率。首先，从计算时间和计算时间的角度分析了计算过程。接下来，我们列出了所有可能的程序。最后，我们在模拟环境中测试了这些程序。因此，以下方法被证明是最有效的：在每次任务分配，机器人应该计算一些限制，成本相对较低的计算成本。而机器人只有在完成计划任务失败时才需要计算其他的约束条件，这些约束条件的计算代价相对较高，在未来的工作中，需要更灵活的框架将给定的任务分解为多个小任务。例如，某些对象应临时设置为适当的中间目标。

In former researches in mufti-robotics, in spite of its importance, there have been no propositions of task allocation scheme toward the problem involving "task constraints" that impose some restriction on the orders of task execution. In other studies involving task constraints such as job shop scheduling, task constraints are given by the designer. We address the problem that robots should calculate task constraints by themselves and should execute task allocation considering their constraints. As an example of such problem, we adopted rearrangement task of multiple movable objects. In this research, following subjects should be solved.1. Task allocation should be executed considering task constraints.2. Task constraints should be calculated as early as possible.Toward these subjects, we have obtained following results.1. By means of classification of task constraints, we have obtained calculation methods of task constraints and task allocation methods considering these constraints.2. We have promoted efficiency of calculation procedure of task constraints. First, we have analyzed calculation procedure from viewpoints when calculation should be done and how long it should be taken. Next, we have listed all possible procedure. Finally, we have tested these procedures in simulated environments. As a result, following method turns out to be the most effective: In every time of task allocation, robots should calculate some constraints that costs comparatively low calculation costs. And robots should calculate other constraints that cost comparatively high calculation costs only when robots fail to planned tasks.In future works, more flexible framework that divides given task into several small tasks is needed. For example, some objects should be temporarily set to adequate intermediate goals.