Adaptive Task Allocation to Heterogeneous Agents
Primary Investigator:
Shreyas Sundaram
Amritha Prasad, Han-Lim Choi, Shreyas Sundaram
Abstract
Consider a scenario consisting of a set of heterogeneous mobile agents and a set of tasks dispersed over a geographic area. The agents are partitioned into different types. The tasks are partitioned into specialized tasks that can only be done by agents of a certain type, and generic tasks that can be done by any agent. Given this scenario, we address the problem of adaptively allocating these tasks among the available agents (subject to type compatibility constraints) while minimizing the maximum travel cost for any agent. We provide two approaches to solve the problem, both of which are resilient to agent failures and can adaptively allocate tasks to agents subject to the compatibility constraints.