Work

Solving Multi-Robot Task Allocation and Planning in Trans-media Scenarios

Year: 2024

Type: conference-paper

Abstract: Trans-media robots, capable of operating across diverse environments, add significant complexity for multi-robot task allocation and planning problems. This paper introduces a novel approach to plan missions for such multi-robot systems, that addresses the associated specific complexities and constraints. It streamlines the overall mission planning process by decomposing it into tractable sub-problems, and addresses the issues of coalition formation, path planning, and task scheduling. It provides mission plans in very little computation time and allows to tackle large missions intractable by global planners, with negligible loss in plan optimality.

Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI: 10.1109/iros58592.2024.10801394

Authors: Virgile De La Rochefoucauld, Simon Lacroix, Photchara Ratsamee, Haruo Takemura

Institutions: Centre National de la Recherche Scientifique, Laboratoire d'Analyse et d'Architecture des Systèmes, Institut National des Sciences Appliquées de Toulouse, Osaka Institute of Technology, The University of Osaka

Language: English

Topic: Robotic Path Planning Algorithms

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funder: Japan Society for the Promotion of Science

Awards: Aerial-Terrestrial-Aquatic Robots for Search and Rescue in an ATA Extreme Environment, Spherical Magnetic Joint based Antigravitational Locomotion of Multi-Legged Robot