Multi-Robot Team Composition Optimization: Modeling Robotic Construction Tasks as Cooperative Board Games

Document Type

Conference Proceeding

Publication Date

12-11-2025

Department

Department of Civil, Environmental, and Geospatial Engineering

Abstract

To boost productivity and efficiency, construction robots are anticipated to become increasingly prevalent in future construction workplaces. In such multi-robot environments, forming a well-composed robotic team is crucial for efficient task allocation and handling complex and dynamic construction tasks. However, existing studies that consider team formation as high-level skill planning or low-level robot simulation fall short of balancing the complexity and fidelity of multi-robot modeling for team composition optimization. To bridge this gap, a cooperative board game simulation approach is proposed. Specifically, the time-varying activity dependencies and agent interactions in robotics construction tasks are represented as states of the board, enabling efficient modeling of team dynamics and accurate estimation of team performance. Simulation results on scaffolding construction tasks demonstrate that the proposed method can reliably estimate team utility and identify optimal team compositions. This study provides insights for effective multi-robot team formation in robotic construction tasks.

Publication Title

Computing in Civil Engineering 2024

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