Multi Robot Routing Auctions Baratis Evdoxios

The problem Allocate tasks in a team of robots Goal: Visit all targets and optimize a team objective Team objectives: MiniSum, MiniMan, MiniAve, all NP-Hard Solution: Auctions Algorithm initially implemented in C New implementation in JAVA GUI added Cell heights support added

Main Window User can select a number of options Directions of movement (4/8)‏ Bidding Rule Known / Unknown Map Map and Problem are checked for consistency Robot paths animation

Map Editor Create a new map Edit an existing one Obstacle editing Height editing Five levels of height (0-4)‏ Relative costs can be modified (settings)‏

Problem Editor Create a new or edit an existing problem Load an existing map and then create a problem Guarantees consistency Load a map and a problem All inconsistent targets-robots are automatically removed Robot editing Target editing

Supporting Cell Heights The algorithm for computing Cell costs for each target had to change (1st picture)‏ The new algorithm has the same complexity with the old one for maps without heights but some crucial modifications Repeats itself 1-2 times for maps with heights and finds optimal paths (2nd picture)‏