為了使多機器人系統在日常生活中安全、高效地使用，必須開發一種健壯、快速的協調多機器人系統動作的方法。在本文中，我們提出了一個分布式任務配置設定和排程算法，不同的機器人的任務緊密耦合的時間和優先級限制。該方法将問題表示為車輛路徑問題的一個變體，并使用基于進化計算的分布式元啟發式算法(CBM-pop)找到解決方案。這種方法允許快速和接近最優的配置設定，是以可以用于任務更改時的線上重新規劃。仿真結果表明，與現有的分布式方法相比，該方法具有更好的計算速度和可擴充性，且不損失最優性。并将該規劃方法應用于多機器人系統維護溫室的實際應用。
原文題目：Distributed Allocation and Scheduling of Tasks with Cross-Schedule Dependencies for Heterogeneous Multi-Robot Teams
原文：To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for missions where the tasks of different robots are tightly coupled with temporal and precedence constraints. The approach is based on representing the problem as a variant of the vehicle routing problem, and the solution is found using a distributed metaheuristic algorithm based on evolutionary computation (CBM-pop). Such an approach allows a fast and near-optimal allocation and can therefore be used for online replanning in case of task changes. Simulation results show that the approach has better computational speed and scalability without loss of optimality compared to the state-of-the-art distributed methods. An application of the planning procedure to a practical use case of a greenhouse maintained by a multi-robot system is given.
異構多機器人團隊跨時間依賴性任務的分布式配置設定與排程.pdf