We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin). Such problems commonly occur in assembly planning for robotic manufacturing applications, in which sub-assemblies must be completed before they can be combined to form the final product. We propose a hierarchical algorithm for computing makespan-optimal solutions to the problem. The algorithm is evaluated on a set of randomly generated problem instances where robots must transport objects between stations in a "factory "grid world environment. In addition, we demonstrate in high-fidelity simulation that the output of our algorithm can be used to generate collision-free trajectories for non-holonomic differential-drive robots.

中文翻译：

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多智能体机器人装配规划的最优顺序任务分配和路径寻找

我们研究了在具有任务间优先级约束的应用程序中大型机器人团队的顺序任务分配和无碰撞路由问题（例如，任务 $A$ 和任务 $B$ 必须在任务 $C$ 开始之前完成） . 此类问题通常发生在机器人制造应用的装配规划中，其中必须先完成子装配，然后才能将它们组合成最终产品。我们提出了一种分层算法，用于计算问题的最佳解决方案。该算法在一组随机生成的问题实例上进行评估，其中机器人必须在“工厂”网格世界环境中的站点之间运输物体。此外，