Heterogeneous Multi-robot Mission Planning for Coordinated Tasks Execution

Abstract

The use of robotics and autonomous systems to perform various missions has become increasingly popular and widely accepted. The scope of missions that can be performed by such systems includes complex tasks that require coordination and cooperation between multiple robots, not just simple repetitive tasks. Mission planner plays a vital role in making sure that the tasks performed by the robots are conducted in an efficient manner and meet all the mission requirements. In designing a mission planner, it is crucial to consider not only the functional aspect of the system but also its modularity, scalability, and interoperability. In this paper, we proposed an architecture of a heterogeneous multi-robot mission planner system that is based on robotic operating system (ROS). The system is designed to support heterogeneous multi-robot, where there are several types of robots having unique sets of capabilities and properties, which contributes greatly to the complexity of the mission planner.