Task Allocation and Planning for Offshore Mission Automation

Task planning for multi-robot problems with capability constraints requires efficient tools capable of optimising goal allocation. This work aims to improve the performance of centralised task planning by combining a novel task allocation method with temporal planning to obtain high-quality plans. We integrate our method with the ORCA Hub Simulator, a framework which unifies multiple autonomous systems, and demonstrate our approach to plan generation for a fleet of heterogeneous robots in an offshore energy environment.