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Fast Scheduling of Multi-Robot Teams with Temporospatial Constraints

Matthew Gombolay, Ronald Wilcox, Julie Shah
2013 Robotics: Science and Systems IX  
We use this fast task sequencer in conjunction with a MILP solver, and show that we are able to generate near-optimal task assignments and schedules for up to 10 agents and 500 tasks in less than 20 seconds  ...  Our key innovation is a fast, satisficing multi-agent task sequencer that is inspired by real-time processor scheduling techniques but is adapted to leverage hierarchical problem structure.  ...  EVALUATION AND DISCUSSION In this section, we empirically validate that Tercio is fast and produces near-optimal solutions for the multi-agent task assignment and scheduling problem with temporal and spatial-proximity  ... 
doi:10.15607/rss.2013.ix.049 dblp:conf/rss/GombolayWS13 fatcat:rskpaqp4bngdxoh7tenzdvexyq

Dynamic Assignment of Geospatial-Temporal Macro Tasks to Agents under Human Strategic Decisions for Centralized Scheduling in Multi-Agent Systems

Reza Nourjou, Stephen F. Smith, Michinori Hatayama, Norio Okada, Pedro Szekely
2014 International Journal of Machine Learning and Computing  
(rational agents) to minimize the total operation time in uncertain, dynamic, and spatial environments.  ...  Objective: The purpose of this paper is to propose an intelligent software system that assists the IC in the dynamic assignment of geospatial-temporal macro tasks to agents under human strategic decisions  ...  This enabled him to be a visiting scholar at the Information Sciences Institute of the University of Southern California and the Robotics Institute of Carnegie Mellon University from November 2011 to November  ... 
doi:10.7763/ijmlc.2014.v4.383 fatcat:vlzui36f3vda5oj5c7rffzre4y

Decentralized planning for complex missions with dynamic communication constraints

Sameera Ponda, Josh Redding, Han-Lim Choi, Jonathan P How, Matt Vavrina, John Vian
2010 Proceedings of the 2010 American Control Conference  
An architecture to facilitate real-time task replanning in a dynamic environment, along with methods to handle varying communication constraints and dynamic network topologies, is also presented.  ...  Simulation results and experimental flight tests in an indoor test environment verify the proposed task planning methodology for complex missions.  ...  ACKNOWLEDGMENTS This research was supported in part by AFOSR (FA9550-08-1-0086), MURI (FA9550-08-1-0356), and Boeing Research and Technology.  ... 
doi:10.1109/acc.2010.5531232 fatcat:oxgrihj7ibcb5gxtyo46zaul7i

Summary of Satellite Collaborative Planning Algorithm

Jie Zhang, the Graduate School, Air Force Engineering University, Xi'an 710054 China, Gang Wang, Fangzheng Zhao, Guiling Tian, Department of Air-Defense and Anti-Missile, Air Force Engineering University, Xi'an 710054 China, the Graduate School, Air Force Engineering University, Xi'an 710054 China, the Graduate School, Air Force Engineering University, Xi'an 710054 China
2020 International Journal of Future Computer and Communication  
research status of satellite autonomous and collaborative task scheduling planning, and summarizes the research progress of single-star and multi-star mission scheduling problems according to "ground  ...  In a word, satellite autonomous and collaborative task scheduling has broad research prospects. Index Terms-Independent collaboration, satellite, integration of satellite and earth.  ...  AUTHOR CONTRIBUTIONS Jie Zhang conducted the research and wrote the paper; Gang Wang analyzed the data; Fangzheng Zhao collected study materials; Guiling Tian wrote the initial draft; all authors had approved  ... 
doi:10.18178/ijfcc.2020.9.1.557 fatcat:l6prd7iov5bmvj6gibjdgsjszi

Incremental multi-robot task selection for resource constrained and interrelated tasks

Sanem Sariel, Tucker Balch, Nadia Erdogan
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This approach results in globally efficient solutions through mechanisms that form priority based rough schedules and select the most suitable tasks from these schedules.  ...  members of a multi-robot team.  ...  [12] models the multi-agent task assignment problem as a scheduling problem for the RoboCupRescue simulation domain.  ... 
doi:10.1109/iros.2007.4399519 dblp:conf/iros/SarielBE07 fatcat:uemkvzk6kne2nig4oi5gfse6ai

Cooperative Aerial-Ground Multi-Robot System for Automated Construction Tasks

Marko Krizmancic, Barbara Arbanas, Tamara Petrovic, Frano Petric, Stjepan Bogdan
2020 IEEE Robotics and Automation Letters  
We propose a solution for planning and coordinating the mission of constructing a wall with a predefined structure for a heterogeneous system consisting of one mobile robot and up to three unmanned aerial  ...  To that end, we use hierarchical task representation to specify interrelationships between mission subtasks and employ effective scheduling and coordination mechanism, inspired by Generalized Partial Global  ...  Controlling a heterogeneous team of robots requires precise high-level task planning and fast and robust coordination mechanisms.  ... 
doi:10.1109/lra.2020.2965855 fatcat:qrauyvyk6fdybepfslwoijlzf4

Coordination Approaches and Systems - Part II: An Operational Perspective

Graham Coates, Robert Ian Whitfield, Alex H. B. Duffy, Bill Hills
2000 Research in Engineering Design  
Aspects of coordination categorised as operational include resource management, scheduling and planning.  ...  This paper is concerned with operational coordination, which is aimed at coordinating activities such that the design process can be performed in a near optimal manner with respect to time, and the allocation  ...  Acknowledgements The authors gratefully acknowledge the support given by the Engineering and Physical Science Research Council who provided the grant RES/4741/0920 that enabled this work to be undertaken  ... 
doi:10.1007/s001630012073 fatcat:kpqhvtsawzaddmnke42yfvfsye

Multi-Agent System for Real Time Planning Using Collaborative Agents

Ana Lilia Laureano-Cruces, Tzitziki Ramírez-González, Lourdes Sánchez-Guerrero, Javier Ramírez-Rodríguez
2014 International Journal of Intelligence Science  
agents, and the task will be transmitted through some assigned communication channel using multi-agent approach.  ...  These include general organizational concepts, the distribution of management tasks, dynamic organizational changes like team formation and underlying communication mechanisms; c) autonomous agents: research  ...  Also as part of the Divisional project Soft Computing and Applications in the sub line Multi Agent Systems: Modeling and Simulation funded by the same University.  ... 
doi:10.4236/ijis.2014.44011 fatcat:panqm43bxbabtneuitdmhvegfa

Multi Agent Systems for Multi Enterprise Scheduling [chapter]

Dieter Spath, Gisela Lanza, Markus Herm
2002 IFIP Advances in Information and Communication Technology  
Multi Enterprise Scheduling' considers the temporal allocation of activities to resources.  ...  The Organization units are identified in an Organizational and Resource Model. In the concept they are represented through Multi Agents, namely the Activity Agent and the Resource Agent.  ...  , double reservations MULTI AGENTS FOR SCHEDULING For the scheduling of activities which need these external resources the requirements like 'information exchange', 'Negotiation' and 'Task' must be satisfied  ... 
doi:10.1007/978-0-387-35492-7_43 fatcat:n2lhwif2tvgznbawauy2moqcbu

Comparison of agent-based scheduling to look-ahead heuristics for real-time transportation problems

Martijn Mes, Matthieu van der Heijden, Aart van Harten
2007 European Journal of Operational Research  
We consider the real-time scheduling of full truckload transportation orders with time windows that arrive during schedule execution.  ...  Particularly, the multi-agent approach yields less empty miles and a more stable service level.  ...  Here resources (e.g. vehicles) are also dynamically assigned to tasks that arrive during schedule execution.  ... 
doi:10.1016/j.ejor.2006.02.051 fatcat:tdn4gbgtuzf3pdycrgr3j7ocu4

ECOTRUCK: An Agent System for Paper Recycling [chapter]

Nikolaos Bezirgiannis, Ilias Sakellariou
2011 IFIP Advances in Information and Communication Technology  
EcoTruck is modelled as a multi-agent system and its implementation employs Erlang, a distribution-oriented declarative language.  ...  The latter have the effect of minimising vehicle travel distances and subsequently lowering transportation costs.  ...  Once a new collection task is assigned to the agent, it is added to the truck's plan. Each Truck agent maintains its own plan, that is a queue of jobs it intends to execute.  ... 
doi:10.1007/978-3-642-23960-1_37 fatcat:6xasj62rmjarbb47lctl4e7kuu

Hierarchically Structured Scheduling and Execution of Tasks in a Multi-Agent Environment [article]

Diogo S. Carvalho, Biswa Sengupta
2022 arXiv   pre-print
In this work, we set ourselves on a problem that presents itself with a hierarchical structure: the task-scheduling, by a centralised agent, in a dynamic warehouse multi-agent environment and the execution  ...  We propose to use deep reinforcement learning to solve both the high-level scheduling problem and the low-level multi-agent problem of schedule execution.  ...  Introduction Tasks appear dynamically in a warehouse or retail store environment, and multiple agents must cooperate in executing them.  ... 
arXiv:2203.03021v1 fatcat:undob22rivgbncl2bxddshbhja

MAFC: Multi-Agent Fog Computing Model for Healthcare Critical Tasks Management

Ammar Awad Mutlag, Mohd Khanapi Abd Ghani, Mazin Abed Mohammed, Mashael S. Maashi, Othman Mohd, Salama A. Mostafa, Karrar Hameed Abdulkareem, Gonçalo Marques, Isabel de la Torre Díez
2020 Sensors  
The main role of the multi-agent system is mapping between three decision tables to optimize scheduling the critical tasks by assigning tasks with their priority, load in the network, and network resource  ...  We suggest in this paper a Multi-Agent Fog Computing model for healthcare critical tasks management.  ...  Lastly, it facilitated node cooperation and resource sharing with neighbor Nodes using Multi-Agents System.  ... 
doi:10.3390/s20071853 pmid:32230843 fatcat:rojvpl2dyvdwzdogs6fswy337y

An Algorithm for Allocating Structured Tasks in Multi-Robot Scenarios [chapter]

Tulio L. Basegio, Rafael H. Bordini
2017 Smart Innovation, Systems and Technologies  
Specifically, we will focus on multi-robot task allocation problems when tasks have time windows or ordering constraints. We will outline the main lines of research and open problems.  ...  Task allocation is ubiquitous in computer science and robotics, yet some problems have received limited attention in the computer science and AI community.  ...  Acknowledgments: The help of Ernesto Nunes, Maria Manner, and Hakim Mitiche and partial support from NSF grant CNF-1531330 are gratefully acknowledged.  ... 
doi:10.1007/978-3-319-59394-4_10 fatcat:idcnjxkdxzaw5gdl7cb2nmwfby

Distributed Mission Planning of Complex Tasks for Heterogeneous Multi-Robot Teams [article]

Barbara Arbanas Ferreira, Tamara Petrović, Stjepan Bogdan
2021 arXiv   pre-print
This class of problems involves tasks that can be executed in different ways and are associated with cross-schedule dependencies that constrain the schedules of the different robots in the system.  ...  We propose a distributed metaheuristic based on evolutionary computation to allocate tasks and generate schedules for the set of chosen decompositions.  ...  By combining a fast heuristic task decomposition selection method with a metaheuristic task assignment and scheduling optimization procedure, we can quickly search a large solution space and find efficient  ... 
arXiv:2109.10106v1 fatcat:naikx3o72rgwxnvlz2cbdo3qyi
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