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boschresearch / STAAMS-Solver

Simultaneous task allocation and motion scheduling (STAAMS) solver based on constraint programming and optimization, implemented for the Robot Operating System (ROS)
BSD 3-Clause "New" or "Revised" License
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Can this solver handle the autonomous scheduling of wheeled robots #2

Open jokerEcust opened 2 years ago

jokerEcust commented 2 years ago

Can this solver handle the autonomous scheduling of wheeled robots? For example, setting the points that the robot needs to move to, whether the robot can automatically traverse these points to make a certain index optimal, such as the minimum total distance, etc.

JKBehrens commented 2 years ago

Hi @jokerEcust,

the solver is intended for multiple manipulators and not for mobile settings. The solver could be in principle be extended to work for mobile robots. However, it would require adaptations and will have limitations (e.g., on the size of the environment that can be handled, and the discretization of the space limits how close robots can pass each other).

Changing the optimization criterion is not a big deal. It could influence the solving speed.

Without knowing more about your use case, I cannot say more.