Min-max tours for task allocation to heterogeneous agents

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We consider a scenario consisting of a set of heterogeneous mobile agents located at a depot, and a set of tasks dispersed over a geographic area. The agents are partitioned into different types. The tasks are partitioned into specialized tasks that can only be done by agents of a certain type, and generic tasks that can be done by any agent. The distances between every pair of tasks are specified, and satisfy the triangle inequality. Given this scenario, we address the problem of allocating these tasks among the available agents (subject to type compatibility constraints) while minimizing the maximum cost to tour the allocation by any agent and return to the depot. This problem is NP-hard, and we give a three phase algorithm to solve this problem that provides 5-factor approximation, regardless of the total number of agents and the number of agents of each type. We also show that in the special case where there is only one agent of each type, the algorithm has an approximation factor of 4.
Publisher
IEEE
Issue Date
2018-12-18
Language
English
Citation

57th IEEE Conference on Decision and Control (CDC), pp.1706 - 1711

DOI
10.1109/CDC.2018.8619118
URI
http://hdl.handle.net/10203/249186
Appears in Collection
AE-Conference Papers(학술회의논문)
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