Task Allocation Strategy for Heterogeneous Robot Teams in Offshore Missions

Yaniel Carreno, Èric Pairet, Yvan Petillot, Ronald P. A. Petrick

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    Heterogeneous robot fleets are capable of supporting dynamic and resource-constrained missions. While current temporal AI planners are able to deal with multi-robot planning problems by producing plans that take into account the individual robot capabilities and task requirements, these approaches deal with the high-dimensionality of the state space inefficiently, leading to multi-robot plans with poor plan quality. This paper proposes a novel task allocation strategy called Multi-Role Goal Assignment (MRGA) which enables for more efficient computation of plans using temporal planners. The approach allocates a mission's goals based on robot capabilities, the redundancy of the sensor system, the spatial distribution of the goals and task implementation time, avoiding the need to compute a large number of possible assignments. We demonstrate the applicability of the strategy with multiple robots operating jointly in an offshore platform. Experiments demonstrate that our approach allows for more robust solutions and improved plan quality while significantly reducing planning time.

    Original languageEnglish
    Title of host publicationProceedings of the 19th International Conference on Autonomous Agents and Multiagent Systems
    Pages222-230
    Number of pages9
    ISBN (Electronic)978-1-4503-7518-4
    Publication statusPublished - May 2020
    Event19th International Conference on Autonomous Agents and Multi-agent Systems 2020 - Auckland, New Zealand
    Duration: 9 May 202013 May 2020
    https://aamas2020.conference.auckland.ac.nz/

    Conference

    Conference19th International Conference on Autonomous Agents and Multi-agent Systems 2020
    Abbreviated titleAAMAS 2020
    Country/TerritoryNew Zealand
    CityAuckland
    Period9/05/2013/05/20
    Internet address

    Keywords

    • Long-term autonomy
    • Task allocation strategy
    • Temporal-planning

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Software
    • Control and Systems Engineering

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