Multi-robot Task Allocation with Complex Dependencies—A Branch-and-Price Approach

Esther Bischoff (), Robin Wöran, Simon Rothfuß and Sören Hohmann
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Esther Bischoff: Karlsruhe Institute of Technology
Robin Wöran: Karlsruhe Institute of Technology
Simon Rothfuß: Karlsruhe Institute of Technology
Sören Hohmann: Karlsruhe Institute of Technology

Chapter Chapter 1 in Operations Research Proceedings 2023, 2025, pp 1-7 from Springer

Abstract: Abstract Branch-and-price is a common approach to optimally solve time-extended multi-robot task allocation (MRTA) problems. However, so far no complex dependencies could be considered. Complex dependencies arise if multiple decompositions of tasks are available that can be allocated to different robots. We propose three different methods how to handle complex dependencies within branch-and-price (BnP) approaches for MRTA problems. The decomposition method is based on a decompose-then-allocate concept, while the decision variable method and the cluster method incorporate the complex dependencies explicitly into the overall optimization model. An evaluation is conducted to compare the proposed approaches.

Keywords: Multi-robot task allocation; Complex dependencies; Task decomposition; Branch-and-price; Combinatorial optimization (search for similar items in EconPapers)
Date: 2025
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DOI: 10.1007/978-3-031-58405-3_1

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