Online Task Assignment and Coordination in Multi-Robot Fleets

We propose a loosely-coupled framework for integrated task assignment, motion planning, coordination and control of heterogeneous fleets robots subject to non-cooperative tasks. The approach accounts the important real-world requirement that tasks can be posted asynchronously. exploit systematic search optimal where interference is considered as cost estimated with knowledge kinodynamic models current state robots. Safety guaranteed by an online algorithm, absence collisions treated hard constraint. relation between weight in assignment computational overhead analyzed empirically, compared against alternative realizations using local algorithms assignment.