论文标题
在多机器人团队中为共享自主权安排操作员协助
Scheduling Operator Assistance for Shared Autonomy in Multi-Robot Teams
论文作者
论文摘要
在本文中，我们考虑了在具有多个自动机器人的系统中分配人类操作员协助的问题。每个机器人都必须完成独立任务，每个任务定义为一系列任务。在执行任务时，机器人可以自主操作，也可以由人类操作员远程执行，以更快地完成任务。我们表明，创建最大程度地减少系统制造件的远程操作时间表的问题是NP-HARD。我们将问题提出为混合整数线性程序，可用于最佳地解决小至中等大小的问题实例。我们还开发了一种随时随地的算法，该算法利用问题结构，即使对于更大的问题实例，也可以为操作员调度问题提供快速且高质量的解决方案。我们的关键见解是在贪婪创建的时间表中识别阻止任务，并迭代地删除这些块以提高解决方案的质量。通过数值模拟，我们证明了所提出的算法的好处是一种高于其他贪婪方法的有效且可扩展的方法。
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a task, a robot can either operate autonomously or be teleoperated by the human operator to complete the task at a faster rate. We show that the problem of creating a teleoperation schedule that minimizes makespan of the system is NP-Hard. We formulate our problem as a Mixed Integer Linear Program, which can be used to optimally solve small to moderate sized problem instances. We also develop an anytime algorithm that makes use of the problem structure to provide a fast and high-quality solution of the operator scheduling problem, even for larger problem instances. Our key insight is to identify blocking tasks in greedily-created schedules and iteratively remove those blocks to improve the quality of the solution. Through numerical simulations, we demonstrate the benefits of the proposed algorithm as an efficient and scalable approach that outperforms other greedy methods.
