Optimal Task Assignment for Equipment Inspection Robots with Heterogeneous Work Efficiency

In this paper, we address optimal task assignment for equipment inspection robots in a factory. In view of the complex work environment and variety of the equipments to be inspected, coordination of heterogeneous robots, including drones and ground vehicles, is inevitable for such a system. In our p...

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Bibliographic Details
Published in2024 SICE Festival with Annual Conference (SICE FES) pp. 1097 - 1102
Main Authors Okada, Yuya, Sugawara, Hiroki, Soya, Hiroaki, Hatanaka, Takeshi
Format Conference Proceeding
LanguageEnglish
Published The Society of Instrument and Control Engineers - SICE 27.08.2024
Subjects
Computational efficiency
Drones
Heterogeneous Robots
Inspection
Integer Programming
Iron
Land vehicles
Optimization
Production facilities
Programming
Robot kinematics
Scheduling
Task Assignment
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Summary:In this paper, we address optimal task assignment for equipment inspection robots in a factory. In view of the complex work environment and variety of the equipments to be inspected, coordination of heterogeneous robots, including drones and ground vehicles, is inevitable for such a system. In our previous study, we proposed a computationally efficient task assignment algorithm for the problem by decomposing the problem through appropriate layering. However, this algorithm did not take into account the work efficiency of the individual robots. In this paper, we present an assignment algorithm that reflects heterogeneity of the work efficiency. To this end, we present novel logical constraints for the upper-layer problem, which is responsible for the area assignment, that guarantee feasibility of the problem in the lower layer. Finally, we demonstrate the effectiveness of the present solution through simulation that duplicate operations in an actual factory.