Multi-robot Search in a 3D Environment with Intersection System Constraints

Efficient task allocation is a challenge for multirobot search. The multi-robot search problem is reformulated as submodular maximization subject to intersection system constraints. The objective function is submodular and consists of a coverage function to cover environments and a balancing functio...

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Veröffentlicht in:2024 IEEE International Conference on Robotics and Automation (ICRA) S. 5963 - 5969
Hauptverfasser: Li, Yan-Shuo, Tseng, Kuo-Shih
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: IEEE 13.05.2024
Schlagworte:
Clustering algorithms
Linear programming
Resource management
Routing
Search problems
Three-dimensional displays
Trajectory
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Zusammenfassung:Efficient task allocation is a challenge for multirobot search. The multi-robot search problem is reformulated as submodular maximization subject to intersection system constraints. The objective function is submodular and consists of a coverage function to cover environments and a balancing function to efficiently dispatch robots. The intersection system is composed of routing and clustering constraints. The experiment results show that the proposed approach outperforms state-ofthe-art methods in multi-robot search.
DOI:10.1109/ICRA57147.2024.10610393