On-line task allocation for the robotic interception of multiple targets in dynamic settings

This paper presents a novel on-line optimal task-allocation methodology for the interception of a group of mobile targets by a team of robotic pursuers. The mobile targets are highly maneuverable. A rolling-horizon concept is used to increase the depth of the online search for the optimal solution. Guidance theory is utilized to navigate each pursuer independently toward its assigned target. Extensive simulations and experiments have confirmed the proposed generic methodology to be efficient in determining on-line assignments for minimum total interception time.