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A distributed multi-agent production planning and scheduling framework for mobile robots
Authors:Stefano Giordani  Marin Lujak  Francesco Martinelli
Affiliation:1. Dipartimento di Ingegneria dell’Impresa, Università di Roma “Tor Vergata”, Via del Politecnico 1, 00133 Roma, Italy;2. University Rey Juan Carlos, CETINIA, Calle Tulipan s/n, 28933 Móstoles, Madrid, Spain;3. Dipartimento di Informatica, Sistemi e Produzione, Università di Roma “Tor Vergata”, Via del Politecnico 1, 00133 Roma, Italy
Abstract:Inspired by the new achievements in mobile robotics having as a result mobile robots able to execute different production tasks, we consider a factory producing a set of distinct products via or with the additional help of mobile robots. This particularly flexible layout requires the definition and the solution of a complex planning and scheduling problem. In order to minimize production costs, dynamic determination of the number of robots for each production task and the individual robot allocation are needed. We propose a solution in terms of a two-level decentralized Multi-Agent System (MAS) framework: at the first, production planning level, agents are tasks which compete for robots (resources at this level); at the second, scheduling level, agents are robots which reallocate themselves among different tasks to satisfy the requests coming from the first level. An iterative auction based negotiation protocol is used at the first level while the second level solves a Multi-Robot Task Allocation (MRTA) problem through a distributed version of the Hungarian Method. A comparison of the results with a centralized approach is presented.
Keywords:
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