Problem
Research questions and friction points this paper is trying to address.
Multi-human multi-robot task allocation
Decentralized coordination
Communication constraints
Heterogeneous teams
Communication-Aware Heterogeneous Graph Learning for Decentralized Multi-Human Multi-Robot Task Allocation
🤖 AI Summary
This study addresses the challenge of task allocation and coordination in multi-human multi-robot teams under communication constraints by proposing the CommHG framework. To model complex interactions, this work pioneers the integration of communication awareness into heterogeneous graph learning. Furthermore, it leverages cooperative multi-agent reinforcement learning to jointly optimize task allocation and communication decisions, thereby enabling coordinated scheduling under dynamic information acquisition. Extensive large-scale heterogeneous experiments demonstrate that the proposed approach significantly outperforms state-of-the-art baselines in terms of task completion timeliness.
📝 Abstract
Multi-human multi-robot (MH-MR) teams combine robotic autonomy with human expertise, but effective task allocation requires coordinating scarce, dynamically available human support with distributed robot execution. Limited robot-robot and human-robot communication further complicates this coupling by delaying information exchange and supervisory intervention. We introduce CommHG, a communication-aware heterogeneous graph learning framework for decentralized MH-MR task allocation. CommHG represents coupled human-robot-task interactions through local graphs conditioned on information availability and age. Learned communication actions enable robots to decide when and which operator to query, and when to share information with peers. Allocation and communication are jointly optimized through cooperative multi-agent reinforcement learning, allowing the team to acquire useful information while managing limited communication and supervisory resources. We also introduce a benchmark integrating heterogeneous humans and robots, dynamic tasks and operational states, and constrained robot-robot and bidirectional human-robot links. Experiments across heterogeneous teams with up to 16 robots, 6 humans, and 112 tasks show that CommHG improves timely weighted mission completion as coordination scale increases, outperforming the strongest baseline in the Large scenario.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Heterogeneous Graph Learning
Communication-Aware
Multi-Agent Reinforcement Learning
Decentralized Task Allocation
Multi-Human Multi-Robot
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