Multi-robot Base Connectivity Constrained Task Servicing

摘要

In order to complete tasks quickly, multiple robots can be deployed. Some of the tasks are critical and could be dangerous to humans. Hence the tasks must be continuously supervised during execution. For supervision, the human operator and the service robot must, at all times, have a communication link. This paper presents a decentralized task servicing algorithm with base connectivity constraint for multiple homogenous robots to perform the tasks of servicing the assigned task(s). The algorithm is scalable and considers real-world constraints on movement as well as collision avoidance. An example scenario is presented to the performance of the algorithm.