论文标题
多代理机器人组装计划的最佳顺序任务分配和路径查找
Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning
论文作者
论文摘要
我们研究了具有任务间优先限制的应用程序中的大型机器人团队的顺序任务分配和无碰撞路由的问题（例如，任务$ a $和任务$ b $都必须在任务$ c $开始之前完成）。这种问题通常发生在机器人制造应用程序的组装计划中，在该应用程序中必须完成子组件，然后才能将其合并以形成最终产品。我们提出了一种用于计算问题的层次结构算法。该算法在一组随机生成的问题实例上进行评估，其中机器人必须在“工厂”网格世界环境中的站点之间运输对象。此外，我们在高保真模拟中证明了我们的算法的输出可用于生成无碰撞轨迹，以实现非全面差分驱动机器人。
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin). Such problems commonly occur in assembly planning for robotic manufacturing applications, in which sub-assemblies must be completed before they can be combined to form the final product. We propose a hierarchical algorithm for computing makespan-optimal solutions to the problem. The algorithm is evaluated on a set of randomly generated problem instances where robots must transport objects between stations in a "factory "grid world environment. In addition, we demonstrate in high-fidelity simulation that the output of our algorithm can be used to generate collision-free trajectories for non-holonomic differential-drive robots.
