Multi-Robot Coordination and Cooperation with Task Precedence Relationships
Walker Gosrich,Siddharth Mayya,Saaketh Narayan,Matthew Malencia,Saurav Agarwal,Vijay Kumar,Walker Gosrich,Siddharth Mayya,Saaketh Narayan,Matthew Malencia,Saurav Agarwal,Vijay Kumar
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c) cooperation through the formation of robot coalitions for tasks that cannot be performed by individual robots alone. In our formulation, the tasks and the rela...
