Centralized Mission Planning for Multiple Robots Minimizing Total Mission Completion Time

Most mission planning algorithms solve multi-robot-multi-mission problems based on mixed integer linear programming. In these algorithms, the rewards (or costs) of missions for each robot are calculated according to purpose user. Then, (robot-mission) pair that has maximum minimum is found in table and allocated robot. However, it hard design reward minimizing total completion time because not only a robot, but also whole robots’ plans must be considered achieve purpose. this paper, we propose centralized problems, time. First, single-robot-multi-mission proposed easy solve. method applied adding mission-plan-adjustment step. To show excellent performance suggested algorithm diverse situations, demonstrate simulations 3 representative cases: simple case, which composed robots 8 missions, medium 4 30 huge 6 50 missions. The case lower than results existing algorithm.