arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2004.11857math.OC
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多机器人系统基于分布式分支-价格的广义指派

Generalized Assignment for Multi-Robot Systems via Distributed Branch-And-Price

Andrea Testa, Giuseppe Notarstefano

摘要:

在本文中,我们考虑了一个网络的代理,必须自我分配一组任务,同时尊重资源约束。一个可能的公式是广义分配问题,其中的目标是找到一个最大的回报,同时满足能力约束。我们提出了一个纯粹的分布式分支和价格算法来解决这个问题的合作方式。受经典(集中式)分支和价格计划的启发,在所提出的算法中,每个代理本地解决小线性规划,通过解决简单的背包问题生成列,并与其邻居通信固定数量的基本列。我们证明了有限时间收敛的算法的最优解的问题。然后,我们将所提出的方案应用到一个广义的分配方案,其中一组机器人必须服务于一组任务。我们在ROS测试平台上实现了所提出的算法,并为一组异构机器人解决分配问题提供了实验。

英文摘要:

In this paper, we consider a network of agents that has to self-assign a set of tasks while respecting resource constraints. One possible formulation is the Generalized Assignment Problem, where the goal is to find a maximum payoff while satisfying capability constraints. We propose a purely distributed branch-and-price algorithm to solve this problem in a cooperative fashion. Inspired by classical (centralized) branch-and-price schemes, in the proposed algorithm each agent locally solves small linear programs, generates columns by solving simple knapsack problems, and communicates to its neighbors a fixed number of basic columns. We prove finite-time convergence of the algorithm to an optimal solution of the problem. Then, we apply the proposed scheme to a generalized assignment scenario in which a team of robots has to serve a set of tasks. We implement the proposed algorithm in a ROS testbed and provide experiments for a team of heterogeneous robots solving the assignment problem.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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