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A Scalable Heuristic for Mission Planning of Mobile Robot Teams
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems. ABB AB, Västerås, Sweden.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0002-9051-929x
ABB AB, Västerås, Sweden.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0001-6132-7945
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2023 (English)In: IFAC-PapersOnLine, Elsevier B.V. , 2023, no 2, p. 7865-7872Conference paper, Published paper (Refereed)
Abstract [en]

In this work, we investigate a task planning problem for assigning and planning a mobile robot team to jointly perform a kitting application with alternative task locations. To this end, the application is modeled as a Robot Task Scheduling Graph and the planning problem is modeled as a Mixed Integer Linear Program (MILP). We propose a heuristic approach to solve the problem with a practically useful performance in terms of scalability and computation time. The experimental evaluation shows that our heuristic approach is able to find efficient plans, in comparison with both optimal and non-optimal MILP solutions, in a fraction of the planning time.

Place, publisher, year, edition, pages
Elsevier B.V. , 2023. no 2, p. 7865-7872
Keywords [en]
Mobile Robotics, Task Planning
National Category
Robotics
Identifiers
URN: urn:nbn:se:mdh:diva-66134DOI: 10.1016/j.ifacol.2023.10.021Scopus ID: 2-s2.0-85184958013ISBN: 9781713872344 (print)OAI: oai:DiVA.org:mdh-66134DiVA, id: diva2:1840698
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IFAC-PapersOnLine
Available from: 2024-02-26 Created: 2024-02-26 Last updated: 2024-02-26Bibliographically approved

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Lager, AndersMiloradović, BrankoSpampinato, GiacomoNolte, ThomasPapadopoulos, Alessandro

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