Bounded Optimal Team Coordination with Temporal Constraints and Delay Penalties(Extended Abstract)

摘要

We address the problem of optimally assigning spatially distributed tasks to a team of heterogeneous mobile agents in domains with inter-task temporal constraints, such as precedence constraints. Due to delay penalties, satisfying the temporal constraints impacts the overall team cost. We present a mathematical model of the problem, a benchmark anytime bounded optimal solution process, and an analysis of the impact of delay penalties on problem difficulty.