Fast Task-Sequence Allocation for Heterogeneous Robot Teams with a Human in the Loop
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems
Linköping University, The Institute of Technology
Conference paper (Refereed)
Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-8, 2013, Tokyo, Japan
Efficient task allocation with timing constraints to a team of possibly heterogeneous robots is a challenging problem with application, e.g., in search and rescue. In this paper a mixed-integer linear programming (MILP) approach is proposed for assigning heterogeneous robot teams to the simultaneous completion of sequences of tasks with specific requirements such as completion deadlines. For this purpose our approach efficiently combines the strength of state of the art Mixed Integer Linear Programming (MILP) solvers with human expertise in mission scheduling. We experimentally show that simple and intuitive inputs by a human user have substantial impact on both computation time and quality of the solution. The presented approach can in principle be applied to quite general missions for robot teams with human supervision.
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications, 1025