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

In: Operations Research Proceedings 2023

Author

Listed:
  • Esther Bischoff

    (Karlsruhe Institute of Technology)

  • Robin Wöran

    (Karlsruhe Institute of Technology)

  • Simon Rothfuß

    (Karlsruhe Institute of Technology)

  • Sören Hohmann

    (Karlsruhe Institute of Technology)

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.

Suggested Citation

  • Esther Bischoff & Robin Wöran & Simon Rothfuß & Sören Hohmann, 2025. "Multi-robot Task Allocation with Complex Dependencies—A Branch-and-Price Approach," Lecture Notes in Operations Research, in: Guido Voigt & Malte Fliedner & Knut Haase & Wolfgang Brüggemann & Kai Hoberg & Joern Meissner (ed.), Operations Research Proceedings 2023, chapter 0, pages 1-7, Springer.
    • Handle: RePEc:spr:lnopch:978-3-031-58405-3_1
    DOI: 10.1007/978-3-031-58405-3_1
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