Multi-robot routing with rewards and disjoint time windows

Multiple robots are often faster and more fault- tolerant than single robots for applications such as planetary exploration and search and rescue. We study applications where robots move in two-dimensional terrain and have to visit targets of given priorities during given time windows that do not ov...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2332 - 2337
Main Authors Melvin, Justin, Keskinocak, Pinar, Koenig, Sven, Tovey, Craig, Ozkaya, Banu Yuksel
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Computer industry
Costs
Dynamic programming
Intelligent robots
Operations research
Robot kinematics
Routing
Service robots
USA Councils
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ISBN9781424409112
142440911X
ISSN2153-0858
DOI10.1109/IROS.2007.4399625

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Summary:Multiple robots are often faster and more fault- tolerant than single robots for applications such as planetary exploration and search and rescue. We study applications where robots move in two-dimensional terrain and have to visit targets of given priorities during given time windows that do not overlap. We analyze the complexity of these coordination tasks and, where possible, use techniques from operations research to develop coordination methods that are efficient and optimize the team performance. We then develop auction-based coordination methods that build on these results and show experimentally that they run in seconds and achieve good team performance for NP-hard coordination tasks.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399625