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Partially-Decoupled Service Agent - Transport Agent Task Allocation and Scheduling.

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Název: Partially-Decoupled Service Agent - Transport Agent Task Allocation and Scheduling.
Autoři: Bays, Matthew J., Wettergren, Thomas A.
Zdroj: Journal of Intelligent & Robotic Systems; May2019, Vol. 94 Issue 2, p423-437, 15p
Abstrakt: We present an approach to performing efficient schedule generation of a heterogeneous team of autonomous agents in a service agent - transport agent scenario where the task allocation and scheduling components are partially-decoupled. In the scenario, service agents must perform tasks at a number of locations. The agents are free to move between locations, however the agents may also be transported throughout the region by a limited number of faster-moving transport agents. The goal of the problem is to plan a schedule of service agent and transport agent actions such that all locations are serviced in the shortest amount of time. While in previous work we formulated the problem as a holistic mixed-integer linear program, we present a novel method to solve the problem in a hierarchical and partially-decoupled manner for faster optimization and to require less information to be processed and communicated in a centralized manner to perform the schedule planning. The original solution method required up to 20 minutes to obtain an efficient solution. The new methodology, using hierarchical task allocation and a bidding-based scheduling algorithm, can create an efficient solution in seconds. [ABSTRACT FROM AUTHOR]
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Abstrakt:We present an approach to performing efficient schedule generation of a heterogeneous team of autonomous agents in a service agent - transport agent scenario where the task allocation and scheduling components are partially-decoupled. In the scenario, service agents must perform tasks at a number of locations. The agents are free to move between locations, however the agents may also be transported throughout the region by a limited number of faster-moving transport agents. The goal of the problem is to plan a schedule of service agent and transport agent actions such that all locations are serviced in the shortest amount of time. While in previous work we formulated the problem as a holistic mixed-integer linear program, we present a novel method to solve the problem in a hierarchical and partially-decoupled manner for faster optimization and to require less information to be processed and communicated in a centralized manner to perform the schedule planning. The original solution method required up to 20 minutes to obtain an efficient solution. The new methodology, using hierarchical task allocation and a bidding-based scheduling algorithm, can create an efficient solution in seconds. [ABSTRACT FROM AUTHOR]
ISSN:09210296
DOI:10.1007/s10846-018-0825-5