Abstract
Task allocation is an important aspect of many multi-robot systems. In this paper, we consider a new task allocation problem that appears in multi-robot aerial cinematography. The main goal is to distribute a set of tasks (shooting actions) among the team members optimizing a certain objective function. The tasks are given as sequences of waypoints with associated time intervals (scenes). We prove that the task allocation problem maximizing the total filmed time by $k$ aerial robots (drones) can be solved in polynomial time when the drones do not require battery recharge. We also consider the problem in which the drones have a limited battery endurance and must periodically go to a static base station. For this version, we show how to solve the problem in polynomial time when only one drone is available.
Original language | English |
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Title of host publication | Proceedings of the 36th European Workshop on Computational Geometry (EuroCG 2020)) |
Place of Publication | Würzburg, Germany |
Pages | 24:1-24:7 |
Number of pages | 7 |
Publication status | Published - 2020 |
Event | 36th European Workshop on Computational Geometry : EuroCG 2020 - University of Würzburg, Würzburg, Virtuell, Germany Duration: 16 Mar 2020 → 18 Mar 2020 https://www1.pub.informatik.uni-wuerzburg.de/eurocg2020/ |
Conference
Conference | 36th European Workshop on Computational Geometry |
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Abbreviated title | EuroCG 2020 |
Country/Territory | Germany |
City | Würzburg, Virtuell |
Period | 16/03/20 → 18/03/20 |
Internet address |
Fields of Expertise
- Information, Communication & Computing