Multi-UGV Task Reallocation for Sensor and Actuator Faults

Abstract

This paper proposes a task reallocation method for multi Unmanned Grounded Vehicle (UGV) systems in sensor and actuator fault situations. The proposed method formulates the task reallocation problem as a Mixed-Integer Linear Programming (MILP) using the distance between UGVs and task priority. When a UGV sensor or actuator fault occurs, the proposed method solves the MILP and finds the optimal task reallocation solution. The solution ensures continuing high-priority tasks for the multi-UGV systems. The proposed method is validated in simulation and experiment. © 2024 ICROS.