Simulated annealing for multi-robot hierarchical task allocation with MinMax objective
نویسندگان
چکیده
In this paper we study algorithms for minimizing the worst-case cost of any agent in a multi-robot team in timecritical missions. We propose a generalized model for flexible mission planning, using hierarchical task networks as the planning framework, and the multiple traveling salesman problem as the cost model for task allocation. Two approximated solutions are provided and compared for this NP-Hard problem, one based in current research in market-based techniques, and another one based in the optimization technique known as simulated annealing. We provide simulation results which back the model described and the proposed algorithms.
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