Pedro Mitsuo Shiroma Advisors : Mario F. M. Campos Vijay Kumar. CoMutaR : An approach for task allocation. Motivation. In a near future it is very likely that several robots will be present in the same workspace. Motivation. In this scenario we will have:
Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.
In a near future it is very likely that several robots will be present in the same workspace
In this scenario we will have:
How to effectively allocate the available resources (whole robots, sensors, gathered data, actuators, processing power, etc.) for the successful execution of multiple tasks?
or, more formally…
Given a set of (possibly) heterogeneous mobile robots located in a dynamical environment and a set of tasks that need to be executed, allocate tasks to one or more robots as efficiently as possible.
“'Most commonly, task allocation problems assume robots are single-task robots, since more capable robots that perform multiple tasks in parallel are still beyond the current state of the art”
Lynne E. Parker, Springer handbook of robotics (2008)
“The MT-SR-IA and MT-SR-TA problems are currently uncommon, as they assume robots that can each concurrently execute multiple tasks. Today’s mobile robots are generally actuator-poor. Their ability to affect the environment is typically limited to changing position, so they can rarely execute more than one task at a time.”
Gerkey & Mataric – Int. J. of Robotics Research (2004)
Planned task for
Region to be sensored
...CoMutaR: Share-restricted resource – Constraint function
. . .
Queries are periodically updated
N = 8
N = 2
N = 16
MT – Transportation and surveillance with task release
ST – Transportation followed by surveillance
MT – Transportation and surveillance
Espaço de conf. projetado