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Home / Proceedings / Proceedings of the International Conference on Automated Planning and Scheduling, 32 / Book One

It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems

February 1, 2023

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Authors

Aakash,Indranil Saha

Indian Institute of Technology Kanpur,Indian Institute of Technology Kanpur


DOI:

10.1609/icaps.v32i1.19779


Abstract:

The goal assignment problem for a multi-robot application involves assigning a unique goal to each robot to minimize the total cost of movement for all the robots. A significant step in the state-of-the-art algorithms solving this problem is to find the cost associated with each robot-goal pair. For a large multi-robot system with many robots and many goals in a complex workspace, the computation time required to find the paths for all robot-goal pairs may become prohibitively large. We present an algorithm that solves the optimal goal assignment problem without computing the paths between all the robot-goal pairs. Instead, our algorithm computes the obstacle-free optimal path for any robot-goal pair in a demand-driven way, i.e., if it is absolutely required to ensure the optimality of the goal assignment. We evaluate our algorithm extensively on both randomly generated and standard workspaces for hundreds of robots. Our experimental results demonstrate that the proposed algorithm achieves an order-of-magnitude speedup over the state-of-the-art baseline algorithm. To the best of our knowledge, our algorithm is the first one to solve the multi-robot optimal goal assignment problem without computing the paths for all robot-goal pairs explicitly, guaranteeing high scalability.

Topics: ICAPS

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HOW TO CITE:

Aakash,Indranil Saha It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems Proceedings of the International Conference on Automated Planning and Scheduling, 32 (2022) 44967.

Aakash,Indranil Saha It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems ICAPS 2022, 44967.

Aakash,Indranil Saha (2022). It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems. Proceedings of the International Conference on Automated Planning and Scheduling, 32, 44967.

Aakash,Indranil Saha. It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems. Proceedings of the International Conference on Automated Planning and Scheduling, 32 2022 p.44967.

Aakash,Indranil Saha. 2022. It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems. "Proceedings of the International Conference on Automated Planning and Scheduling, 32". 44967.

Aakash,Indranil Saha. (2022) "It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems", Proceedings of the International Conference on Automated Planning and Scheduling, 32, p.44967

Aakash,Indranil Saha, "It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems", ICAPS, p.44967, 2022.

Aakash,Indranil Saha. "It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems". Proceedings of the International Conference on Automated Planning and Scheduling, 32, 2022, p.44967.

Aakash,Indranil Saha. "It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems". Proceedings of the International Conference on Automated Planning and Scheduling, 32, (2022): 44967.

Aakash,Indranil Saha. It Costs to Get Costs! A Heuristic-Based Scalable Goal Assignment Algorithm for Multi-Robot Systems. ICAPS[Internet]. 2022[cited 2023]; 44967.


ISSN: 2334-0843


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Copyright 2022, Association for the Advancement of
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