An Efficient Minimum-Time Cooperative Task Planning Algorithm for Serving Robots and Operators

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We establish an efficient minimum-time cooperative task planning algorithm for robots and operators to serve clients. This problem is an extension of the multiple traveling salesman problem and the vehicle routing problem with synchronization constraints, but it is more difficult due to the cooperative tasks of the robots and operators. To find the exact minimum-time task plan with a small tree size, we propose an efficient branch-and-bound with a good initial tree and keen complementary heuristics. Our algorithm is also effective as an approximate algorithm for the many clients problem within the capacity of the computer used. The efficiency of our algorithm is revealed via case studies: telemedical service robots and planetary exploration robots.
Publisher
CAMBRIDGE UNIV PRESS
Issue Date
2020-11
Language
English
Article Type
Article
Citation

ROBOTICA, v.38, no.11, pp.1895 - 1920

ISSN
0263-5747
DOI
10.1017/S0263574719001711
URI
http://hdl.handle.net/10203/278555
Appears in Collection
EE-Journal Papers(저널논문)
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