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

Published online by Cambridge University Press:  22 November 2019

Yong-Hwi Kim Open the ORCID record for Yong-Hwi Kim [Opens in a new window]  and
Byung Kook Kim
Yong-Hwi Kim
Affiliation:
School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea. E-mail: kyh8301@kaist.ac.kr
Byung Kook Kim*
Affiliation:
School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea. E-mail: kyh8301@kaist.ac.kr
*
*Corresponding author. E-mail: bkkim@kaist.ac.kr
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Summary

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.

Keywords

Minimum-time task planningRobots and operatorsBranch-and-boundHeuristics

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Type
Articles
Information
Robotica , Volume 38 , Issue 11 , November 2020 , pp. 1895 - 1920
Copyright
Copyright © Cambridge University Press 2019

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