Action Duration Generalization for Exact Multi-Agent Collective Construction
CoRR(2023)
摘要
This paper addresses exact approaches to multi-agent collective construction
problem which tasks a group of cooperative agents to build a given structure in
a blocksworld under the gravity constraint. We propose a generalization of the
existing exact model based on mixed integer linear programming by accommodating
varying agent action durations. We refer to the model as a fraction-time model.
The generalization by introducing action duration enables one to create a more
realistic model for various domains. It provides a significant reduction of
plan execution duration at the cost of increased computational time, which
rises steeply the closer the model gets to the exact real-world action
duration. We also propose a makespan estimation function for the fraction-time
model. This can be used to estimate the construction time reduction size for
the purpose of cost-benefit analysis. The fraction-time model and the makespan
estimation function have been evaluated in a series of experiments using a set
of benchmark structures. The results show a significant reduction of plan
execution duration for non-constant duration actions due to decreasing
synchronization overhead at the end of each action. According to the results,
the makespan estimation function provides a reasonably accurate estimate of the
makespan.
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