比較優位の原理に基づく異者間の複数種類タスク分担法

抄録

We propose a method of allocating multiple types of tasks to heterogeneous robots based on the theory of comparative advantage for minimizing the makespan (the total length of taskexecuting time). The theory of comparative advantage is an economic theory that maximizes benefit by specialization. Calculation time in the proposed method is negligibly short compared with task-executing time, and it may also be effective for dynamic allocation (e.g., in the real world). We show that our method is also effective in uncertain environments. We also performed two real-world experiments: 1. allocating tidying-up tasks to a wheeled robot and a small humanoid and 2. allocating tasks to a robot and a human.