Decision Making as Optimization in Multi-robot Teams

摘要: A key challenge in multi-robot teaming research is determining how to properly enable robots make decisions on actions they should take contribute the overall system objective. This article discusses many forms of decision making teams can be formulated as optimization problems. In particular, we examine common capabilities task allocation, path planning, formation generation, and target tracking/observation, showing each represented Of course, globally optimal solutions such formulations are not possible, it well-known that problems intractable. However, researchers have successfully built approximations global problems, which work well practice. While do argue all systems based formulations, instructive study when this technique appropriate. Future development new approximation algorithms therefore an important positive impact for applications systems.