Task allocation in robot systems with multi-modal capabilities

摘要

This work focuses on a problem of joint task allocation and routing in a multirobot system. Executors, which are capable of movement are required to perform tasks spread over a working space. Tasks are complex in that they require joint effort of multiple executors in order to be performed. Decision making is done under resource constraints and minimized is the total resource used. Additionally, executors are capable of working in several execution modes depending on the chosen intensity of execution and the chosen set of tools (sensors and actuators). Formulated decision making problem is proven to be NP-hard even in its feasibility version. Presented solution algorithm provides a means of efficient execution with bounded constraint violations. For a special case of identical executors, an approximation ratio is derived. Empirical evaluations supplement the work with conclusions for other cases.