@inproceedings{10.65109/NGQQ5993,
author = {Park, Jinwoo and Ravichandar, Harish and Hutchinson, Seth},
title = {Modeling and Optimizing the Provisioning of Exhaustible Capabilities for Simultaneous Task Allocation and Scheduling},
year = {2026},
isbn = {9798400723179},
publisher = {International Foundation for Autonomous Agents and Multiagent Systems},
address = {Richland, SC},
url = {https://doi.org/10.65109/NGQQ5993},
doi = {10.65109/NGQQ5993},
abstract = {Deploying heterogeneous robot teams to accomplish multiple tasks over extended time horizons presents significant computational challenges for task allocation and planning. In this paper, we present a comprehensive, time-extended, offline heterogeneous multi-robot task allocation framework, TRAITS, which we believe to be the first that can cope with the provisioning of exhaustible traits under battery and temporal constraints. Specifically, we introduce a nonlinear programming-based trait distribution module that can optimize the trait-provisioning rate of coalitions to yield feasible and time-efficient solutions. TRAITS provides a more accurate feasibility assessment and estimation of task execution times and makespan by leveraging trait-provisioning rates while optimizing battery consumption---an advantage that state-of-the-art frameworks lack. We evaluate TRAITS against two state-of-the-art frameworks, with results demonstrating its advantage in satisfying complex trait and battery requirements while remaining computationally tractable.},
booktitle = {Proceedings of the 25th International Conference on Autonomous Agents and Multiagent Systems},
pages = {1746–1754},
numpages = {9},
keywords = {heterogeneous multi-robot systems, task allocation, scheduling},
location = {Paphos, Cyprus},
series = {AAMAS '26}
}