Right Place, Right Time: Proactive Multi-Robot Task Allocation Under Spatiotemporal Uncertainty
Charlie Street,
Bruno Lacerda,
Manuel Mühlig
et al.
Abstract:For many multi-robot problems, tasks are announced during execution, where task announcement times and locations are uncertain. To synthesise multi-robot behaviour that is robust to early announcements and unexpected delays, multi-robot task allocation methods must explicitly model the stochastic processes that govern task announcement. In this paper, we model task announcement using continuous-time Markov chains which predict when and where tasks will be announced. We then present a task allocation framework … Show more
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