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SA-reCBS: Multi-rob...
SA-reCBS: Multi-robot task assignment with integrated reactive path generation
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- Bai, Yifan (författare)
- Luleå tekniska universitet,Signaler och system
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- Kanellakis, Christoforos (författare)
- Luleå tekniska universitet,Signaler och system
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- Nikolakopoulos, George (författare)
- Luleå tekniska universitet,Signaler och system
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(creator_code:org_t)
- Elsevier, 2023
- 2023
- Engelska.
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Ingår i: 22nd IFAC World Congress. - : Elsevier. ; , s. 7032-7037
- Relaterad länk:
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https://doi.org/10.1...
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visa fler...
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https://ltu.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- In this paper, we study the multi-robot task assignment and path-finding problem (MRTAPF), where a number of robots are required to visit all given tasks while avoiding collisions with each other. We propose a novel two-layer algorithm SA-reCBS that cascades the simulated annealing algorithm and conflict-based search to solve this problem. Compared to other approaches in the field of MRTAPF, the advantage of SA-reCBS is that without requiring a pre-bundle of tasks to groups with the same number of groups as the number of robots, it enables a part of robots needed to visit all tasks in collision-free paths. We test the algorithm in various simulation instances and compare it with state-of-the-art algorithms. The result shows that SA-reCBS has a better performance with a higher success rate, less computational time, and better objective values.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- task assignment
- multi-robot path-finding
- multi-depot vehicle routing problem
- Robotics and Artificial Intelligence
- Robotik och artificiell intelligens
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)