alvgaona / task-allocation

Multi-Robot Multi-Task Allocation Simulations

Multi-Robot Task Allocation (MRTA)

References

1. I. Mas and C. A. Kitts, "Dynamic Control of Mobile Multirobot Systems: The Cluster Space Formulation," in IEEE Access, vol. 2, pp. 558-570, 2014, doi: 10.1109/ACCESS.2014.2325742.
2. Yousef Emam, Siddharth Mayya, Gennaro Notomista, Addison Bohannon, & Magnus Egerstedt. (2020). Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities.

task-allocation's Issues

Control variable does not work with restrictions

Given the optimisation problem, the control variable does not behave well when a restriction on it is applied.

For instance:

s.t. u >= -0.2 and u <= 0.2

This won't even iterate once and it will return a None value.

Cannot control cluster orientation

The task allocation controller controls every state variable from the cluster state-space vector but the yaw angle. After introducing the yaw angle as a variable to control, the controller cannot stabilize the cluster position and orientation.

Simulate a basic example using Cluster Space Control

As discussed on Friday, 11th with Juan, we need to start working on a very basic problem using the Multi-Robot Task Allocation algorithm presented by Y. Esam et. al and the Cluster Space Control Formulation presented by I. Mas and C. A. Kitts.

A few assumptions are imposed for this problem.

1. There are enough robots to execute the desired tasks.
2. We won't consider the case where we sacrifice robots to create a cluster of robots.
3. The mission has to be designed with tasks that can be executed by either a cluster of robots or a single robot.
4. We don't consider the heterogeneity of the fleet but we do consider it between a single robot and a cluster of robots.
5. The robots are considered holonomic and only have planar dynamics.