Name
Title | ||
|---|---|---|
Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning |
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/ICRA40945.2020.9197527 | 2020 IEEE International Conference on Robotics and Automation (ICRA) |
Keywords | DocType | Volume |
nonholonomic differential-drive robots,optimal sequential task assignment,collision-free trajectories,robotic manufacturing,collision-free routing,multiagent robotic assembly planning,path finding | Conference | 2020 |
Issue | ISSN | ISBN |
1 | 1050-4729 | 978-1-7281-7396-2 |
Citations | PageRank | References |
0 | 0.34 | 9 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kyle A. Brown | 1 | 0 | 3.04 |
| Peltzer Oriana | 2 | 0 | 0.34 |
| Sehr, A. | 3 | 83 | 4.28 |
| Mac Schwager | 4 | 930 | 72.33 |
| Mykel J. Kochenderfer | 5 | 423 | 68.51 |