A heuristic for task allocation and routing of heterogeneous robots while minimizing maximum travel cost

Jungyun Bae, Jungho Lee, Woojin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The article proposes a new heuristic for task allocation and routing of heterogeneous robots. Specifically, we consider a path planning problem where there are two (structurally) heterogeneous robots that start from distinctive depots and a set of targets to visit. The objective is to find a tour for each robot in a manner that enables each target location to be visited at least once by one of the robots while minimizing the maximum travel cost. A solution for Multiple Depot Heterogeneous Traveling Salesman Problem (MDHTSP) with min-max objective is in great demand with many potential applications, because it can significantly reduce the job completion duration. However, there are still no reliable algorithms that can run in short amount of time. As an initial idea of solving min-max MDHTSP, we present a heuristic based on a primal-dual technique that solves for a case involving two robots while focusing on task allocation. Based on computational results of the implementation, we show that the proposed algorithm produces a good quality of feasible solution within a relatively short computation time.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4531-4537
Number of pages7
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - 2019 May
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 2019 May 202019 May 24

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period19/5/2019/5/24

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Bae, J., Lee, J., & Chung, W. (2019). A heuristic for task allocation and routing of heterogeneous robots while minimizing maximum travel cost. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 4531-4537). [8794257] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794257