Optimal Priority Selection for Multi-Agent Task Execution
| Authors: | Ji Sang Hoon, Seoul National University, Korea, Republic of
Choi Jeong Sik, Seoul National University, Korea, Republic of
Kwak No San, Seoul National University, Korea, Republic of
Lee BeomHee, Seoul National University, Korea, Republic of |
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| Topic: | 4.3 Robotics |
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| Session: | Multi-Robot Systems |
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| Keywords: | Optimal Priority Assignment, Multimachine, Robot Navigation, Deadlines, Scheduling |
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Abstract
In this paper, effect of priority order on navigation performance was analyzed. And priority order was selected to give optimal navigation performance considering robots' trajectories. To include chain interference in the trajectories of robots with lower priorities, the problem was formulated as the multiple linear equations using collision map analysis. The priority order problem was then converted to an optimal priority selection for multi-agent task execution problem. The solution to the optimal problem was obtained using the dynamic programming approach. Numerical examples were finally presented to demonstrate the significance of the proposed method for optimal priority selection for multi-agent task execution.
