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Batuhan Altundas

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2 author rows

NeurIPS Conference 2025 Conference Paper

Heterogeneous Graph Transformers for Simultaneous Mobile Multi-Robot Task Allocation and Scheduling under Temporal Constraints

Batuhan Altundas
Shengkang Chen
Shivika Singh
Shivangi Deo
Minwoo Cho
Matthew Gombolay

Coordinating large teams of heterogeneous mobile agents to perform complex tasks efficiently has scalability bottlenecks in feasible and optimal task scheduling, with critical applications in logistics, manufacturing, and disaster response. Existing task allocation and scheduling methods, including heuristics and optimization-based solvers, often fail to scale and overlook inter-task dependencies and agent heterogeneity. We propose a novel Simultaneous Decision-Making model for Heterogeneous Multi-Agent Task Allocation and Scheduling (HM-MATAS), built on a Residual Heterogeneous Graph Transformer with edge and node-level attention. Our model encodes agent capabilities, travel times, and temporospatial constraints into a rich graph representation and is trainable via reinforcement learning. Trained on small-scale problems (10 agents, 20 tasks), our model generalizes effectively to significantly larger scenarios (up to 40 agents and 200 tasks), enabling fast, one-shot task assignment and scheduling. Our simultaneous model outperforms classical heuristics by assigning 164. 10\% more feasible tasks given temporal constraints in 3. 83\% of the time, metaheuristics by 201. 54\% in 0. 01\% of the time and exact solver by 231. 73\% in 0. 03\% of the time, while achieving $20\times$-to-$250\times$ speedup from prior graph-based methods across scales.

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IROS Conference 2022 Conference Paper

Learning Coordination Policies over Heterogeneous Graphs for Human-Robot Teams via Recurrent Neural Schedule Propagation

Batuhan Altundas
Zheyuan Wang
Joshua Bishop
Matthew C. Gombolay

As human-robot collaboration increases in the workforce, it becomes essential for human-robot teams to coordinate efficiently and intuitively. Traditional approaches for human-robot scheduling either utilize exact methods that are intractable for large-scale problems and struggle to account for stochastic, time varying human task performance, or application-specific heuristics that require expert domain knowledge to develop. We propose a deep learning-based framework, called HybridNet, combining a heterogeneous graph-based encoder with a recurrent schedule propagator for scheduling stochastic human-robot teams under upper- and lower-bound temporal constraints. The HybridNet's encoder leverages Heterogeneous Graph Attention Networks to model the initial environment and team dynamics while accounting for the constraints. By formulating task scheduling as a sequential decision-making process, the HybridNet's recurrent neural schedule propagator leverages Long Short-Term Memory (LSTM) models to propagate forward consequences of actions to carry out fast schedule generation, removing the need to interact with the environment between every taskagent pair selection. The resulting scheduling policy network provides a computationally lightweight yet highly expressive model that is end-to-end trainable via Reinforcement Learning algorithms. We develop a virtual task scheduling environment for mixed human-robot teams in a multi-round setting, capable of modeling the stochastic learning behaviors of human workers. Experimental results showed that HybridNet outperformed other human-robot scheduling solutions across problem sizes for both deterministic and stochastic human performance, with faster runtime compared to pure-GNN-based schedulers.

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