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Time-Extended Multi-Robot Task Allocation - A Reoptimization Framework with Provable Performance

This work introduces reoptimization approaches with performance guarantees for heterogeneous, time-extended MRTA problems with precedence and synchronization constraints. Reoptimization heuristics and a metaheuristic reoptimization framework are presented for ten relevant problem modifications. An e...

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Main Author: Sophie Bischoff, Esther
Format: Online
Language:English
Published: KIT Scientific Publishing 2026
Subjects:
Garantien
Guarantees
MRTA
Multi-robot task allocation
Mutti-Robot-Task-Allocation
Optimierung
Optimization
Reoptimization
Reoptimierung
thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TJ Electronics and communications engineering
Online Access:2511-6312 (Online)
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Summary:This work introduces reoptimization approaches with performance guarantees for heterogeneous, time-extended MRTA problems with precedence and synchronization constraints. Reoptimization heuristics and a metaheuristic reoptimization framework are presented for ten relevant problem modifications. An extensive evaluation of the proposed reoptimization approaches clearly indicates their superiority compared to optimization approaches for application in interactive MRTA optimization systems.

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