Gossip algorithm for heterogeneous multi-vehicle routing problems

FRANCESCHELLI, MAURO;ROSA, DANIELE;SEATZU, CARLA;Bullo F.

2013-01-01

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Abstract

In this paper we address a class of heterogeneous multi-vehicle task assignment and routing problems. We propose two distributed algorithms based on gossip communication: the first algorithm is based on a local exact optimization and the second is based on a local approximate greedy heuristic. We consider the case where a set of heterogeneous tasks arbitrarily distributed in a plane has to be serviced by a set of mobile robots, each with a given movement speed and task execution speed. Our goal is to minimize the maximum execution time of robots.