2024/08/15 by Arjo Chakravarty, Chakravarty, Arjo, Michael Grey +5
Computer Science · Engineering · #Distributed and Parallel Computing Systems #FOS: Computer and information sciences #Multiagent Systems (cs.MA) #Optimization and Search Problems #Robotics (cs.RO) #Robotics and Automated Systems
paper · pdf · doi:10.48550/arxiv.2408.07942
openalex publication_date 2024/08/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.