Chance Constrained Simultaneous Path Planning and Task Assignment for Multiple Robots with Stochastic Path Costs
Fan Yang,Nilanjan Chakraborty,Fan Yang,Nilanjan Chakraborty
We present a novel algorithm for simultaneous task assignment and path planning on a graph (or roadmap) with stochastic edge costs. In this problem, the initially unassigned robots and tasks are located at known positions in a roadmap. We want to assign a unique task to each robot and compute a path for the robot to go to its assigned task location. Given the mean and variance of travel cost of ea...
