Multi-Robot Task Allocation in Lunar Mission Construction Scenarios
Howard, Ayanna M.
Williams, Andrew B.
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In this paper, we propose a method for multirobot task allocation based on the concept of task decomposition for a lunar mission scenario. This methodology focuses on segmenting a task scenario into a sequence of operations called functional primitives that are defined a priori by a set of performance metrics and resource requirements. In real-time, multiple robotic agents determine their capabilities and skill sets associated with the defined functional primitives in order to determine a suitable allocation scheme. We discuss the methodology in detail, and provide results for a simulated lunar mission construction scenario using the Multi-Agent Robot Simulator for Lunar Construction (MARS-LC) system.