NDLI: Complex Task Allocation For Multiple Robots

Content Provider	IEEE Xplore Digital Library
Author	Zlot, R. Stentz, A.
Copyright Year	2005
Description	Author affiliation: The Robotics Institute Carnegie Mellon University Pittsburgh, PA, 15213 USA robz@ri.cmu.edu (Zlot, R.)
Abstract	Recent research trends and technology developments are bringing us closer to the realization of autonomous multirobot systems performing increasingly complex missions. However, existing multirobot task allocation mechanisms treat tasks as simple, indivisible entities and ignore any inherent structure and semantics that such complex tasks might have. These properties can be exploited to produce more efficient team plans by giving individual robots the ability to come up with new ways to perform a task, or by allowing multiple robots to cooperate by sharing the subcomponents of a task, or both. In this paper, we introduce the complex task allocation problem and describe a distributed solution for efficiently allocating a set of complex tasks to a robot team. The advantages of explicitly modeling complex tasks during the allocation process is demonstrated by a comparison of our approach with existing task allocation algorithms in an area reconnaissance scenario. An implementation on a team of outdoor robots further validates our approach.
Starting Page	1515
Ending Page	1522
File Size	4392557
Page Count	8
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570329
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Reconnaissance Cost function Multirobot systems Contracts Robotics and automation Laboratories Collaborative work task allocation multirobot coordination
Content Type	Text
Resource Type	Article

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