Multi-robot Planning for Non-overlapping Operator Attention Allocation

Scheduling and Path-Planning for Operator Oversight of Multiple Robots

“…We build upon our recent work [10,11], to perform multi-robot planning [40,41]. We also find complementary goals in [42] where a robot attempts to move from one location in its environment to another by calculating which obstacles can be minimally displaced to generate a feasible trajectory.…”

“…Thus, our objective is to develop a planning strategy for the remote task involving multiple robots such that the operator can pay sufficient attention to each robot during critical operations. This work's contributions are: extending our preliminary ideas from [10,11] in the following directions: First, we analyze the complexity of this problem. Secondly, we present a sampling-based approach that allows us to design policies for many teleoperators instead of a complete algorithm that only works for a small set of operators.…”

“…This procedure is performed on the robots with the shortest current plans so that extensions to their plans due to re-planning should have a minimal effect on the mission's overall length. Then generate alternative trajectories for the robots, provided operator-denied times o t den , and create an alternative goal location x altgoal to account for any shifts in the ending times of the robot plans (lines [8][9][10][11].…”