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Communication Dans Un Congrès Année : 2019

Solving Methods for Multi-Robot Missions Planning with Energy Capacity Consideration

Méthodes de planification pour des missions multi-robots avec contraintes d'énergie

Résumé

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.
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Dates et versions

hal-02912969 , version 1 (07-08-2020)

Identifiants

  • HAL Id : hal-02912969 , version 1

Citer

Muhammad Khakim Habibi, Christophe Grand, Charles Lesire, Cédric Pralet. Solving Methods for Multi-Robot Missions Planning with Energy Capacity Consideration. ICRA 2019, May 2019, MONTREAL, Canada. ⟨hal-02912969⟩

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