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arXiv · 2408.07942

Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents

Arjo Chakravarty·Michael X. Grey·M. A. Viraj J. Muthugala·Mohan Rajesh Elara
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Abstract

Resource sharing is a crucial part of a multi-robot system. We propose a Boolean satisfiability based approach to resource sharing. Our key contributions are an algorithm for converting any constrained assignment to a weighted-SAT based optimization. We propose a theorem that allows optimal resource assignment problems to be solved via repeated application of a SAT solver. Additionally we show a way to encode continuous time ordering constraints using Conjunctive Normal Form (CNF). We benchmark our new algorithms and show that they can be used in an ad-hoc setting. We test our algorithms on a fleet of simulated and real world robots and show that the algorithms are able to handle real world situations. Our algorithms and test harnesses are opensource and build on Open-RMFs fleet management system.

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Arjo Chakravarty, Michael X. Grey, M. A. Viraj J. Muthugala, Mohan Rajesh Elara. 2024-08-15. Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents. https://arxiv.org/abs/2408.07942

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