NDLI: A Resource-Oriented, Decentralized Auction Algorithm for Multirobot Task Allocation

Content Provider	IEEE Xplore Digital Library
Author	Dong-Hyun Lee Zaheer, S.A. Jong-Hwan Kim
Copyright Year	2004
Abstract	This paper proposes a resource-oriented, decentralized auction algorithm (RODAA) for multirobot task allocation considering multiple resources of the robots and limited robot communication range. The resources that this paper focuses on are the expendable supplies that a robot consumes and recharges while performing tasks, such as energy. In the proposed algorithm, each robot generates its cost for the task in a probabilistic manner considering multiple paths that visit none or different combinations of refill stations for performing the task based on the robot's residual resources. For robust and time-efficient task allocation with limited robot communication range in a dynamic network, a multihop-based auction algorithm is proposed. This paper also introduces a solar panel cleaning mission as a new application for multirobot systems and the proposed algorithm is implemented in the simulation of the mission. The simulation results demonstrate that the proposed algorithm is capable of completing the panel cleaning mission faster than other auction-based task allocation algorithms and has lower overall resource consumption.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	1469
Ending Page	1481
Page Count	13
File Size	1613152
File Format	PDF
ISSN	15455955
Volume Number	12
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Resource management Robot kinematics Multi-robot systems Robustness Cleaning Algorithm design and analysis solar panel cleaning Auction algorithm decentralized task allocation multirobot systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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