Communication Dans Un Congrès Année : 1996

Incremental mission allocation to a large team of robots

Résumé

In the MARTHA project, a large number of robots in a harbour are given the global task of transporting containers from one area to anothel: The global decision-making process of allocating robots to those predejined tasks can be viewed as a scheduling and resource allocation problem , which is addressed here in a centralised way. Imprecision of temporal constraints make it meaningless to search for a strict optimal schedule. Our approach in-terleaves task allocation and execution, scheduling in a sliding short-term horizon, as the execution process runs, and providing near-optimal solutions. For largeapplications as our, the complexity of temporal management is a crucial issue. We present here a graph decomposition technique, leading to nearly-constant time temporal propagation, without any loss of information.

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hal-01979700 , version 1 (13-01-2019)

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  • HAL Id : hal-01979700 , version 1

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Thierry Vidal, Malik Ghallab, Rachid Alami. Incremental mission allocation to a large team of robots. Proceedings of IEEE International Conference on Robotics and Automation, Apr 1996, Minneapolis, United States. ⟨hal-01979700⟩
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