yanielcarreno / mrga

Task Allocation Strategy to distribute goals in a fleet considering, goals makespan, goals position, robot capabilities and redundancy in the sensory system.

MRGA Strategy repository

This repository contains the ROS-MRGA code, the domain and problems used in:

"Task Allocation Strategy for Heterogeneous Robot Teams in Offshore Missions"

Important: This is a simplified version of the algorithm. If you need the full version, please contant the authors.

The implementation is devided in two parts:

1. GOAL ALLOCATION

1.1 Compilation:

Select or create a catkin workspace:

     mkdir -p mrga_ws/src
     cd mrga_ws/

Get the code:

     cd src/
     git clone https://github.com/YanielCarreno/MRGA.git

Compile everything:

     catkin build

1.2 To run an example:

     roslaunch mrga mrga_strategy.launch

1.3 The results:

The allocation_solution.txt file located in the mrga package shows the allocation's results. This results can be added to the PDDL problem files to generate plans using the steps in the TASK PLANNING section.

2. TASK PLANNING

2.1 First folder (constrained_domain) contains the domain and problems that consider the predicate "robot_can_act" to implement the plan which were generated using the Multi-Role Goal Assignment (MRGA) strategy presented in the paper.

2.2 Second folder (non-constrained_domain) constains a version of the domain and problems in folder one without using the predicates generate by the MRGA strategy.

How to run it?

   --> Clone the repository
   --> Compile the planners:

            1) TemporAl, TFLAP & OPTIC IPC-2018 (https://ipc2018-temporal.bitbucket.io/)

            2) LPG (http://zeus.ing.unibs.it/lpg/)

            3) TFD (http://gki.informatik.uni-freiburg.de/tools/tfd/)

            4) POPF (https://nms.kcl.ac.uk/planning/software/popf.html)


     --> Run the planners using the domain and problem required

Publications

If you are using this work for your research, please cite:

@InProceedings{carreno2020task,
  Title  = {Task Allocation Strategy for Heterogeneous Robot Teams in Offshore Missions},
  Author = {Carreno, Yaniel and Pairet, {\`E}ric and Petillot, Yvan and Petrick, Ronald PA},
  Booktitle = {Proceedings of the 2020 International Conference on Autonomous Agents and Multiagent Systems},
  Year = {2020}
}
}