IROS 2015 Paper Abstract


Paper ThFT13.1

Bays, Matthew (Naval Surface Warfare Center), Wettergren, Thomas (Naval Undersea Warfare Center)

A Solution to the Service Agent Transport Problem

Scheduled for presentation during the Regular session "Task Planning" (ThFT13), Thursday, October 1, 2015, 16:50−17:05, Saal 8

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Task Planning, Multi-Robot Coordination, Agent-Based Systems


We introduce a new problem in the area of scheduling and route planning operations called the service agent transport problem (SATP). Within the SATP, autonomous service agents must perform tasks at a number of locations. The agents are free to move between locations, however, the agents may also be transported throughout the region by a limited number of faster-moving transport agents. The goal of the SATP is to plan a schedule of service agent and transport agent actions such that all locations are serviced in the shortest amount of time. We pose the problem using a mixed-integer linear programming optimization framework, and compare several complexity reduction heuristics to the full optimization.



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