Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning
Kyle Brown,Oriana Peltzer,Martin A. Sehr,Mac Schwager,Mykel J. Kochenderfer,Kyle Brown,Oriana Peltzer,Martin A. Sehr,Mac Schwager,Mykel J. Kochenderfer
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task A and task B must both be completed before task C may begin). Such problems commonly occur in assembly planning for robotic manufacturing applications, in which sub-assemblies must be completed before they can be combined to form...
