Solving Multi-Robot Task Allocation and Planning in Trans-media Scenarios - LAAS-Robotique
Communication Dans Un Congrès Année : 2024

Solving Multi-Robot Task Allocation and Planning in Trans-media Scenarios

Virgile de la Rochefoucauld
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Simon Lacroix
Haruo Takemura
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Résumé

Trans-media robots, capable of operating across diverse environments, add significant complexity for multi-robot task allocation and planning problems. This paper introduces a novel approach to plan missions for such multi-robot systems, that addresses the associated specific complexities and constraints. It streamlines the overall mission planning process by decomposing it into tractable sub-problems, and addresses the issues of coalition formation, path planning, and task scheduling. It provides mission plans in very little computation time and allows to tackle large missions intractable by global planners, with negligible loss in plan optimality.
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Dates et versions

hal-04695703 , version 1 (12-09-2024)

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  • HAL Id : hal-04695703 , version 1

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Virgile de la Rochefoucauld, Simon Lacroix, Photchara Ratsamee, Haruo Takemura. Solving Multi-Robot Task Allocation and Planning in Trans-media Scenarios. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04695703⟩
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