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SA-reCBS: Multi-robot task assignment with integrated reactive path generation
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- Bai, Yifan (author)
- Luleå tekniska universitet,Signaler och system
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- Kanellakis, Christoforos (author)
- Luleå tekniska universitet,Signaler och system
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- Nikolakopoulos, George (author)
- Luleå tekniska universitet,Signaler och system
- (creator_code:org_t)
- Elsevier, 2023
- 2023
- English.
- In: 22nd IFAC World Congress. - : Elsevier. ; , s. 7032-7037
- Conference paper (peer-reviewed)
Abstract
Subject headings
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- 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.
Subject headings
- 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)
Keyword
- task assignment
- multi-robot path-finding
- multi-depot vehicle routing problem
- Robotics and Artificial Intelligence
- Robotik och artificiell intelligens
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- kon (subject category)
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