NDLI: Incremental multi-robot task selection for resource constrained and interrelated tasks

Content Provider	IEEE Xplore Digital Library
Author	Sariel, S. Balch, T. Erdogan, N.
Copyright Year	2007
Description	Author affiliation: Istanbul Tech. Univ., Istanbul (Sariel, S.)
Abstract	When the tasks of a mission are interrelated and subject to several resource constraints, more efforts are needed to coordinate robots towards achieving the mission than independent tasks. In this work, we formulate the Coordinated Task Selection Problem (CTSP) to form the basis of an efficient dynamic task selection scheme for allocation of interrelated tasks of a complex mission to the members of a multi-robot team. Since processing times of tasks are not exactly known in advance, the incremental task selection scheme for the eligible tasks prevents redundant efforts as, instead of scheduling all of the tasks, they are allocated to robots as needed. This approach results in globally efficient solutions through mechanisms that form priority based rough schedules and select the most suitable tasks from these schedules. Since our method is targeted at real world task execution, communication requirements are kept limited. Empirical evaluations of the proposed approach are performed on the Webots simulator and the real robots. The results validate that the proposed approach is scalable, efficient and suitable to the real world safe mission achievement.
Starting Page	2314
Ending Page	2319
File Size	918031
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399519
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Robot sensing systems Robotics and automation Scheduling Resource management Intelligent robots Runtime USA Councils Performance evaluation
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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