Solving Methods for Multi-Robot Missions Planning with Energy Capacity Consideration
Muhammad Khakim Habibi, Christophe Grand, Charles Lesire, Cédric Pralet
Abstract
We consider a problem minimizing the total duration of accomplishing missions performed by heterogeneous vehicles. The problem respects constraints related to vehicles' capabilities and energy capacities. The goal is to determine the best routes of each vehicle deployed by choosing which waypoints to pass and which observations to perform. Each vehicle has a particular distance matrix and a limited energy. In order to provide high quality solutions within reasonable computational time, two decomposition-based approximate methods were implemented: (i) the Multiphase heuristic, and (ii) the Two-Phase iterative heuristic. The performance of the methods is evaluated against the Branch-and-Cut algorithm using generated instances.
BibTeX
@inproceedings{icra2019_solvingmethodsfo,
title = {Solving Methods for Multi-Robot Missions Planning with Energy Capacity Consideration},
author = {Muhammad Khakim Habibi and Christophe Grand and Charles Lesire and Cédric Pralet},
booktitle = {ICRA 2019},
year = {2019}
}