Optimal control of time instants for task replanning in robotic networks

Robotic networks are increasingly used to under- take complex missions and are often composed of heterogeneous agents executing well-defined tasks. To react against external disturbances and hardware failures, a typical technique is to change at runtime how tasks are assigned to robots. In this perspective, the paper presents an approach based on predictive control for the on-line selection of the optimal time instants when perform reassignments. To evaluate the effectiveness of the proposed approach, simulation results are showcased in comparison with reactive and proactive strategies.