Modeling and Optimizing the Provisioning of Exhaustible Capabilities for Simultaneous Task Allocation and Scheduling

A figure of motivating scenario
High-level architecture of the TRAITS framework

Description

This repository contains the various components of the TRait Throughput and Allocation Informed Team Scheduling (TRAITS) framework.

It incorporates refactored and selectively used components from Forward Chaining Partial-Order Planning (FCPOP), Incremental Task Allocation Graph Search (ITAGS), and Graphically Recursive Task Allocation, Planning, and Scheduling (GRSTAPS).

Specifically, we introduce a nonlinear programming–based trait distribution module to handle the provisioning of exhaustible traits under temporal and battery constraints.

Dependencies

Note: We list all the dependencies down below to recognize the libraries that we use; however, all development should be done in the docker container. Any issues from trying to create a local environment will not be a priority.

apt

libboost-all-dev
libeigen3-dev
libompl-dev
libyaml-cpp-dev

public repositories

other

Gurobi

We use Gurobi to solve Mixed Integer Linear Programming problems. In order to use this with the docker, you will need to get a Web License (click here) and then put the associated gurobi.lic file in docker/gurobi. The license file is in the .gitignore and should under NO circumstance become part of the repository (simply do not change that line and this shouldn't ever be something to worry about). You are responsible for your own gurobi license.

Open Motion Planning Library (OMPL)

We use OMPL as one of our options for solving motion planning problems.

Citations

Forward Chaining Hierarchical Partial-Order Planning

Messing, A., & Hutchinson, S. (2020, June). Forward chaining hierarchical partial-order planning. 
In International Workshop on the Algorithmic Foundations of Robotics (pp. 364-380). Springer, Cham.

Incremental Task Allocation Graph Search

Neville, G., Messing, A., Ravichandar, H., Hutchinson, S., & Chernova, S. (2021, August). 
An interleaved approach to trait-based task allocation and scheduling. In 2021 IEEE/RSJ 
International Conference on Intelligent Robots and Systems (IROS) (pp. 1507-1514). IEEE.

Graphically Recursive Simultaneous Task Allocation, Planning, and Scheduling

Messing, A., Neville, G., Chernova, S., Hutchinson, S., & Ravichandar, H. (2021). 
GRSTAPS: Graphically Recursive Simultaneous Task Allocation, Planning, and Scheduling. 
The International Journal of Robotics Research.