Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents
<|reference_start|>Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents: 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.<|reference_end|>
@article{chakravarty2024time-ordered,
    title={Time-Ordered Ad-hoc Resource Sharing for Independent Robotic Agents},
    author={Arjo Chakravarty, Michael X. Grey, M. A. Viraj J. Muthugala, Mohan
  Rajesh Elara},
    journal={arXiv preprint arXiv:2408.07942},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.07942},
    primaryClass={cs.RO cs.MA}
}